The Naval Postgraduate School , USA
Title: Improved hamiltonian adaptive control of rotational mechanics
Biography: Timothy Sands
Adaptive control techniques often adapt control commands based upon errors tracking trajectories and/or estimation errors. Direct adaptive control techniques typically directly adapt the control signal without translation of estimated parameters. Indirect adaptive control techniques indirectly adapt the control signal by translating the estimates of unknown system parameters to formulate a control signal. The adaptation rule is derived using a proof that demonstrates the elimination of tracking errors (the true objective) and demonstrates stability, which is complicated by the nonlinear closed loop system. This presentation will elaborate on such techniques applied to rotational mechanics with time-varying mass.