Systems and methods for derivative-free adaptive control
First Claim
1. An adaptive control system for controlling a vehicle, the adaptive control system comprising:
- a state observer configured to receive a sensed quantity from the vehicle, the state observer further configured to output a state estimate based at least in part on the sensed quantity; and
a controller configured to receive the state estimate and to employ the state estimate in a derivative-free adaptive control law to calculate an adaptive control, the derivative-free adaptive control law based at least in part on a derivative-free weight update law, the controller further configured to output a control command that is an input to a control system of the vehicle for stabilizing or controlling the vehicle;
wherein at least a component of the control command is the adaptive control; and
wherein the derivative-free weight update law comprises the state estimate, a tracking error, a basis function, and a time-varying estimate of an ideal vector of weights.
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Abstract
An adaptive control system is disclosed. The control system can control uncertain dynamic systems. The control system can employ one or more derivative-free adaptive control architectures. The control system can further employ one or more derivative-free weight update laws. The derivative-free weight update laws can comprise a time-varying estimate of an ideal vector of weights. The control system of the present invention can therefore quickly stabilize systems that undergo sudden changes in dynamics, caused by, for example, sudden changes in weight. Embodiments of the present invention can also provide a less complex control system than existing adaptive control systems. The control system can control aircraft and other dynamic systems, such as, for example, those with non-minimum phase dynamics.
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Citations
20 Claims
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1. An adaptive control system for controlling a vehicle, the adaptive control system comprising:
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a state observer configured to receive a sensed quantity from the vehicle, the state observer further configured to output a state estimate based at least in part on the sensed quantity; and a controller configured to receive the state estimate and to employ the state estimate in a derivative-free adaptive control law to calculate an adaptive control, the derivative-free adaptive control law based at least in part on a derivative-free weight update law, the controller further configured to output a control command that is an input to a control system of the vehicle for stabilizing or controlling the vehicle; wherein at least a component of the control command is the adaptive control; and wherein the derivative-free weight update law comprises the state estimate, a tracking error, a basis function, and a time-varying estimate of an ideal vector of weights. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for adaptive control of an uncertain system associated with a vehicle, the method comprising:
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providing, by a controller associated with the uncertain system, a first control command as an input to the uncertain system, the first control command comprising a first adaptive control; receiving, by a state observer, at least one sensed quantity from the uncertain system; outputting, by the state observer and responsive to the at least one sensed quantity, a state estimate; employing, by the controller, the state estimate in a derivative-free adaptive control law to calculate a second adaptive control, the derivative-free adaptive control law comprising a derivative-free weight update law; and outputting, by the controller, a second control command as an input to the uncertain system for stabilizing or controlling the uncertain system, the second control command comprising the second adaptive control; wherein the derivative-free weight update law comprises the state estimate, a tracking error, a basis function, and a time-varying estimate of an ideal vector of weights. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15)
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16. An adaptive control system for controlling a vehicle, the adaptive control system comprising:
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a reference model configured to output a state estimate; and a controller configured to receive the state estimate and employ the state estimate in a derivative-free adaptive control law to calculate an adaptive control, the derivative-free adaptive control law based at least in part on a derivative-free weight update law, the controller further configured to produce and output a control command that is an input to a control system of the vehicle for stabilizing or controlling the vehicle; wherein at least a component of the control command is the adaptive control; and wherein the derivative-free weight update law comprises the state estimate, a tracking error, a basis function, and a time-varying estimate of an ideal vector of weights. - View Dependent Claims (17, 18, 19, 20)
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Specification