Tutorial Session: Adaptive Control

Presenters:
Prof. Bob Narendra (Yale),
Prof. Petros Ioannou (USC),
Dr. Anuradha Annaswamy (MIT),
Prof. Miroslav Krstic (UCSD),
Prof. Naira Hovakimyan (VT),
Dr. Kevin A. Wise (Boeing),
Dr. Eugene Lavretsky (Boeing)

Session Sunmmary
This is a tutorial session devoted entirely to adaptive control with aerospace applications. The session presents historical background, introduction, overview, recent extensions, applications, lessons learned, and open problems in the design, analysis and technical transition of adaptive control theory and methods into aerospace applications.

The session begins with a historical summary and an overview of the now classical design and analysis methods for adaptive control, given by Prof. Bob. Narendra (Yale).

Next, Prof. Petros Ioannou (USC) presents robust adaptive control methods in the presence of modeling errors and disturbances.

The 3rd topic in the session, will be presented by Prof. Miroslav Krstic (UCSD) on adaptive methods for nonlinear ODEs and linear PDEs using backstepping design methodology.

The 4th topic will be presented by Dr. Anuradha Annaswamy (MIT) on adaptive control methods in the presence of actuator anomalies ranging from loss of effectiveness to saturation and control failures.

The 5th and final topic of the session is given by Dr. Kevin Wise (Boeing), Dr. Eugene Lavretsky (Boeing), and Prof. Naira Hovakimyan (VT). This presentation is focused on the recent theoretical results (L1 adaptive control design), as well as technical transition and flight verification of adaptive controllers for advanced aircraft and guided munitions. Lessons learned in adaptive design and analysis methods used on X-36 RESTORE, X-45A Unmanned Combat Air Vehicle (UCAV), JDAM MK-82, JDAM MK-84, and the Laser-JDAM munitions will be discussed.

The session ends with round-the-table discussions, open problems, and future directions as related to the theory and applications of robust adaptive control methodologies.

1. The Beginnings of Adaptive Control - Narendra, (40 min)
   1.1. Introduction and Historical Overview
   1.2. Theoretical foundations and stability proofs - the beginning
   1.3. "Controversy": Robust vs Adaptive
   1.4. Open Problems
2. Robust Adaptive Control - Ioannou, (20 min)
   2.1 Design Modifications for stability / robustness
   2.1.1 ó - mod
   2.1.2 e - mod
   2.2 Open Problems
3. Adaptive backstepping control - Krstic, (20 min)
   3.1. Motivation
   3.2. Adaptive Backstepping Design for Nonlinear ODEs
   3.3. Designs for Linear PDEs
   3.4. Open Challenges for PDEs
4. Adaptive control with actuator anomalies - Annaswamy, (20 min)
   4.1. Motivation
   4.2. Design, Analysis, and Illustrative Examples
   4.3. Open Problems
5. Recent Theoretical Advances and Adaptive Flight Control - Hovakimyan, Wise, Lavretsky, (20 min)
   5.1 L1 design paradigm
   5.2 Adaptive Flight Control Challenges
   5.3 Tech Transition and Flight Validation of Adaptive Controllers
   5.4 Open Problems

Presentation Abstracts:

Paper 1: The Beginnings of Adaptive Control
Abstract by Bob Narendra
A historical summary and an overview of the now classical design and analysis methods for adaptive control will be given. The talk will be structured as follows:

• Introduction and Historical Overview
• Theoretical foundations and stability proofs - the beginning
• "Controversy": Robust vs Adaptive
• Open Problems
  

Paper 2: Robust Adaptive Control
Abstract by Petros Ioannou
We present robust adaptive control methods in the presence of modeling errors and disturbances. The talk will be structured as follows:

• Design Modifications for stability / robustness
  ó– mod
  e – mod
• Open Problems
  

Paper 3: Adaptive backstepping control
Abstract by Miroslav Krstic
Adaptive methods for nonlinear ODEs and linear PDEs using backstepping design methodology will be presented. The talk will be structured as follows:

• Motivation
• Adaptive Backstepping Design for Nonlinear ODEs
• Designs for Linear PDEs
• Open Challenges for PDEs
  

Paper 4: Adaptive control with actuator anomalies
Abstract by Anuradha M. Annaswamy
Adaptive control methods in the presence of actuator anomalies ranging from loss of effectiveness to saturation and control failures will be presented. The talk will be structured as follows:

• Motivation
• Design, Analysis, and Illustrative Examples
• Open Problems
  

Paper 5: Recent Theoretical Advances and Adaptive Flight Control
Abstract by Kevin Wise, Eugene Lavretsky, and Naira Hovakimyan
This presentation is focused on the recent theoretical results (L1 adaptive control design), as well as technical transition and flight verification of adaptive controllers for advanced aircraft and guided munitions. Lessons learned in adaptive design and analysis methods used on X-36 RESTORE, X-45A Unmanned Combat Air Vehicle (UCAV), JDAM MK-82, JDAM MK-84,
and the Laser-JDAM munitions will be discussed. A round-the-table discussions, open problems, and future directions as related to the theory and applications of robust adaptive control methodologies will follow. The talk will be structured as follows:

• L1 design paradigm
• Adaptive Flight Control Challenges
• Tech Transition and Flight Validation of Adaptive Controllers
• Open Problems
• Conclusions, Discussion, and Future Research Directions –