Adaptive control

Summary

Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain.cite journal|author=Chengyu Cao, Lili Ma, Yunjun Xu|title="Adaptive Control Theory and Applications", Journal of Control Science and Engineering'|volume=2012|issue=1|year=2012|doi=10.1155/2012/827353|pages=1,2|doi-access=free For example, as an aircraft flies, its mass will slowly decrease as a result of fuel consumption; a control law is needed that adapts itself to such changing conditions. Adaptive control is different from robust control in that it does not need a priori information about the bounds on these uncertain or time-varying parameters; robust control guarantees that if the changes are within given bounds the control law need not be changed, while adaptive control is concerned with control law changing itself. Parameter estimation The foundation of adaptive control is parameter esti

Official source

https://en.wikipedia.org/wiki/Adaptive_control

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This course covers some theoretical and practical aspects of robust and adaptive control. This includes H-2 and H-infinity control in model-based and data-driven framework by convex optimization, direct, indirect and switching adaptive control. The methods are implemented in a hands-on lab.

This course consists of two parts:

architecture of automation systems, hands-on lab
handling of faults and failures in real-time systems, including fault-tolerant computing

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Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects

Aude Billard, Fanjun Bu, Konstantinos Chatzilygeroudis, Bernardo Fichera, Farshad Khadivar, Ilaria Lauzana, Kunpeng Yao

We propose a new benchmarking protocol to evaluate algorithms for bimanual robotic manipulation semi-deformable objects. The benchmark is inspired from two real-world applications: (a) watchmaking craftsmanship, and (b) belt assembly in automobile engines. We provide two setups that try to highlight the following challenges: (a) manipulating objects via a tool, (b) placing irregularly shaped objects in the correct groove, (c) handling semi-deformable objects, and (d) bimanual coordination. We provide CAD drawings of the task pieces that can be easily 3D printed to ensure ease of reproduction,and detailed description of tasks and protocol for successful reproduction, as well as meaningful metrics for comparison. We propose four categories of submission in an attempt to make the benchmark accessible to a wide range of related fields spanning from adaptive control, motion planning to learning the tasks through trial-and-error learning.

2020

A Space-Time Adaptive Algorithm to Illustrate the Lack of Collision of a Rigid Disk Falling in an Incompressible Fluid

Samuel Dubuis, Marco Picasso

A space-time adaptive algorithm to solve the motion of a rigid disk in an incompressible Newtonian fluid is presented, which allows collision or quasi-collision processes to be computed with high accuracy. In particular, we recover the theoretical result proven in [M. Hillairet, Lack of collision between solid bodies in a 2D incompressible viscous flow, Comm. Partial Differential Equations 32 (2007), no. 7-9, 1345-1371], that the disk will never touch the boundary of the domain in finite time. Anisotropic, continuous piecewise linear finite elements are used for the space discretization, the Euler scheme for the time discretization. The adaptive criteria are based on a posteriori error estimates for simpler problems.

WALTER DE GRUYTER GMBH2021

Adaptive Control for Nonlinear Uncertain Systems with Actuator Amplitude and Rate Saturation Constraints

Yannick Morel

Wiley-Blackwell2008