Robust and Adaptive Control

Robust and Adaptive Control –

Part I: Robust and Optimal Control of Linear Systems.- Introduction to Control of Aerial Vehicles.- Command Tracking and Servomechanism Design.0 Optimal Control and Linear Quadratic Regulator (LQR).- H-infinity Optimal Control.- Stability Margins and Frequency Domain Consideration.- Projective Control.- Linear Quadratic Gaussian with Loop-transfer Recovery (LQG/LTR) Control.- Simulation Examplse and Case Studies.- Exercises.- Part II: Model Reference Adaptive Control.- Motivation.- Lyapunov Stability Theory: Introduction and Overview.- Adaptive Control Architectures: Direct vs. Indirect.- MRAC and Model Matching Conditions.- Adaptive Dynamic Inversion.- Persistency of Excitation.- Enforcing Robustness in MRAC Systems.- Approximation-based MRAC.- Adaptive Augmentation of a Linear Baseline Controller.- Simulation Examples and Case Studies.- Exercises.- Part III: MRAC Design Extensions.- Limited-authority Adaptive Control.- Predictor-based Control.- Combined/Composite MRAC.- Filtered MRAC Design.- MRAC Design Using Output Feedback.- Simulation Examples and Case Studies.- Conclusions, Future Work and Flight Control Challenges.