Application of local deformations in adaptive control - A comparative survey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

In this paper a brief survey is provided on a novel approach to adaptive nonlinear control developed at Budapest Tech in the past few years. The most popular branches of the classical and novel adaptive approaches are analyzed in comparison with methods needing complete, accurate, and permanent models or applying only partial, incomplete, temporal, and situationdependent ones that require continuous refreshment via observing the behavior of the controlled system in the actual situation. It will be shown how simple geometric considerations can be used for developing iterative learning control. It will also be shown that in the case of the novel approach the conditions of convergence normally can be satisfied by choosing very primitive initial system models and roughly chosen control parameters on the basis of simple geometric considerations. It will be pointed out that while the traditional adaptive approaches are applicable only for learning linearly separable dynamical system parameters and fail for the permanent presence of unknown external disturbances and linearly non-separable (e.g. friction model) parameters, the novel approach can well compensate the simultaneous effects of imprecise and linearly non-separable model parameters and external perturbations, too. Since in contrast to the traditional solutions that normally guarantee global (asymptotic) stability by using Lyapunov functions, the novel approach can assure only local region of stability that in principle can be left by the system's state, a real time simulation tool has been developed to study the robustness of the novel control versus the variation of the adaptive control parameters. It will also be stressed that the traditional approaches have a huge number of adaptive control parameters that generally cannot optimally be set, the novel approach have only a few control parameters that can easily be tuned by observing the behavior of the controlled system. The already achieved results will be exemplified by simulation studies using the same paradigm.

Original languageEnglish
Title of host publicationICCC 2009 - IEEE 7th International Conference on Computational Cybernetics
Pages25-38
Number of pages14
DOIs
Publication statusPublished - 2009
EventIEEE 7th International Conference on Computational Cybernetics, ICCC 2009 - Palma de Mallorca, Spain
Duration: Nov 26 2009Nov 29 2009

Other

OtherIEEE 7th International Conference on Computational Cybernetics, ICCC 2009
CountrySpain
CityPalma de Mallorca
Period11/26/0911/29/09

Fingerprint

Lyapunov functions
Asymptotic stability
Dynamical systems
Friction

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

Cite this

Tar, J. (2009). Application of local deformations in adaptive control - A comparative survey. In ICCC 2009 - IEEE 7th International Conference on Computational Cybernetics (pp. 25-38). [5393937] https://doi.org/10.1109/ICCCYB.2009.5393937

Application of local deformations in adaptive control - A comparative survey. / Tar, J.

ICCC 2009 - IEEE 7th International Conference on Computational Cybernetics. 2009. p. 25-38 5393937.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tar, J 2009, Application of local deformations in adaptive control - A comparative survey. in ICCC 2009 - IEEE 7th International Conference on Computational Cybernetics., 5393937, pp. 25-38, IEEE 7th International Conference on Computational Cybernetics, ICCC 2009, Palma de Mallorca, Spain, 11/26/09. https://doi.org/10.1109/ICCCYB.2009.5393937
Tar J. Application of local deformations in adaptive control - A comparative survey. In ICCC 2009 - IEEE 7th International Conference on Computational Cybernetics. 2009. p. 25-38. 5393937 https://doi.org/10.1109/ICCCYB.2009.5393937
Tar, J. / Application of local deformations in adaptive control - A comparative survey. ICCC 2009 - IEEE 7th International Conference on Computational Cybernetics. 2009. pp. 25-38
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