M.E. 530.647 Adaptive Systems

Fall 2005 Course Homepage

Louis L. Whitcomb
Department of Mechanical Engineering
G.W.C. Whiting School of Engineering
The Johns Hopkins University

office: 123 Latrobe Hall, phone: 410-516-6724
email: llw@jhu.edu

Schedule: Thursday-Friday 10:30AM-11:50AM in Room 114 Maryland Hall.

Course Homepage: http://robotics.me.jhu.edu/~llw/courses/me530647

Course Description

Graduate level introduction to adaptive identification and control methods for automatically identifying and compensating for unknown plant parameters in dynamical systems. Principal focus on deterministic finite-dimensional continuous-time linear and non-linear dynamical systems, with emphasis on identification and control of mechanical systems possessing unknown parameters (e.g. mass, inertia, friction). Topics include stability of linear and nonlinear dynamical systems, Lyapunov stability, input-output stability, adaptive identification, and direct adaptive control techniques for linear and nonlinear plants.

Organization

Lectures: Weekly lectures. Students will each be assigned a paper from the adaptive control literature to present in class. Class participation represents 25% of the course grade.
Problem Sets: Problem sets based on the lectures and assigned reading are due at the on the date specified in the problem set. Problem sets represent 25% of the course grade. No credit will be given for late problem sets or labs unless previously approved by the instructor. Each student's lowest problem set and lab score will be dropped. Make a photocopy of your problem sets before handing them in so that you can refer to it while working on the subsequent assignments.
Laboratory Problem Sets: Lab problems sets, principally assignments in Matlab, are due on the date specified in the problem set. Problem sets represent 25% of the course grade.
Final Exam: The final exam represents 25% of the course grade.
Problem Sessions: Problem sessions will be held to answer questions regarding the lectures, labs, and problem sets.

Texts

K.S. Narendra and A. Annaswamy. Stable Adaptive Systems. Dover Publications, NY, 2005.
Optional: Shankar Sastry and Marc Bodson. Adaptive Control: Stability, Convergence, and Robustness. Prentice-Hall, 1989. Available online at Marc Bodson's web site: http://www.elen.utah.edu/~bodson/acscr

Syllabus

WEEK	DATE	TOPIC
1	Sept 8-9	Introduction
2	Sept 15-16	Stability
3	Sept 22-23
4	Sept 29-30	Adaptive identification of LTI plants - state variables accessible.
5	Oct 6-7
6	Oct 13-14	Guest Lecture?
7	Oct 20-21	Adaptive control of LTI plants - state variables accessible
8	Oct 27-28	Model Reference Adaptive Control.
	Nov 3-4	Adaptive control of mechanical systems - state variables accessible.
9	Nov 10-11
10	Nov 17-18	Adaptive observers.
11	Nov 24-25	Thanksgiving Break
12	Dec 1-2	Special topics.
	Dec 8-9
	Dec 15	Final Exam, 2PM-5PM Thursday December 15, 114 Maryland Hall, per registrar schedule.

Prerequisites

The course is intended for graduate students who have a background in control. Suggested prerequisites include the following:

Multivariable integral and differential calculus (110.108, 110.109, 110.202).
Classical physics (171.101, 171.102).
Linear algebra (550.191 or 110.201).
Ordinary differential equations (550.291 or 110.302).
Linear control theory (520.353, 520.354).
Programming: Basic nowledge of the Matlab programming language. Students with experience using all language elements (1-D and 2-D arrays, and user-defined function calls) in any high level language (e.g. C, C++, FORTRAN, Pascal, Lisp, Basic) should have no problems learning Matlab.

Assignments

These links will be filled when the assignments are handed out in class.

Problem Sets

Laboratory Sets

Lab 0 - Non-credit. This lab is a "get started assignment" for students who have not previously programmed in Matlab.
Lab 1
Lab 2
Lab 3
Lab 4
Lab 5
Lab 6 and Lab 6 m-files
Lab 7

Exams

Final Exam

Grades

Fall 2005 Grades

Handouts

Handouts are in PDF format.

Misc

Louis Whitcomb's mathematica utilities for robot kinematics and dynamics.

References

Karl J. Astrom. Adaptive Control. Addison-Wesley, 1989.
William E. Boyce and Richard C. DiPrima. Elementary Di erential Equations and Boundary Value Problems. Wiley, New York, 1977.
John J. Craig. Adaptive Control of Mechanical Manipulators. Addison-Wesley, Reading, MA,1988.
John J. Craig. Introduction to Robotics Mechanics and Control (Second Edition). Addison Wesley, Reading, MA, 1989. ISBN: 0-20-019528-9.
Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini. Feedback Control of Dynamical Systems. Addison-Wesley, New York, 1991. Second Edition.
Irving M. Gottleib. Electric Motors and Control Techniques. Tab Books, McGraw-Hill, New York, 1994.
Alexander Graham. Kronecker Products and Matrix Calculus With Applications. Halsted Press,John Wiley and Sons, NY, 1981.
Paul R. Halmos. Finite-Dimensional Vector Spaces. Springer-Verlag, New York, 1958. ISBN: 0-387-90093-4.
P. A. Ioannou and J. Sun. Robust Adaptive Control. Prentice-Hall, New Jersey, 1996.
Thomas Kailath. Linear Systems. Prentics Hall, New Jersey, 1980.
H. Kaufman, I. Bar-Kana, and K. Sobel. Direct Adaptibe Control Algorithms: Theory and Applications. Springer-verlag, New York, 1994.
H. K. Khalil. Nonlinear Systems. Macmillan, New York, 1992.
Erwin Kreyszig. Advanced Engineering Mathematics. Wiley, NewYork, 1993.
Iven Mareels and Jan Willem Polderman: Adaptive Systems: An Introduction. Birkhauser, Boston, 1996. ISBN: 0-8176-3877-6.
Mathworks Inc. Matlab Student Edition Version 5 for Windows. Prentice-Hall, 1997. ISBN: 0-13-272477-4.
Richard M. Murray, Zexiang Li, and S. Shankar Sastry. A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton, 1994.
K. S. Narendra, R. Ortega, and P. Dorato, editors. Advances in Adaptive Control. IEEE Press, New Jarsey, 1991.
K.S. Narendra and A. Annaswamy. Stable Adaptive Systems. Prentice-Hall, NY, 1988. Reprinted by Dover Publications, 2005.
Antony J. Pettofrezzo. Matricies and Transformations. Dover, New York, 1966.
W. H. Press, B. P. Flannery, S.A.Teukolsky, and W. T. Vetterling. Numerical Recipes in C. Cambridge University Press, Cambridge, UK, 1988.
Wilson J. Rugh. Linear System Theory. Prentice-Hall, New Jersey, 1995. (2nd Edition).
Shankar Sastry and Marc Bodson. Adaptive Control: Stability, Convergence, and Robustness. Prentice-Hall, 1989.
J.J.E. Slotine. Applied Nonlinear Control. Prentice Hall, New Jersey, 1991.
M. W. Spong and M. Vidyasagar. Robot Dynamics and Control. Wiley, NewYork, 1989.
Karl R. Stromberg. An Introduction to Classical Real Ananysis. Wadsworth, Inc., Belmont, California, 1981.
M. Vidyasagar. Nonlinear Systems Analysis. Prentice-Hall, New Jersey, 1993. (Second Edition).

This page was last edited on Friday, December 23, 2005 04:33 PM by Louis Whitcomb