Digital Commons Network^™

Toward Verifiable Adaptive Control Systems: High-Performance And Robust Architectures, Benjamin Charles Gruenwald

USF Tampa Graduate Theses and Dissertations

In this dissertation, new model reference adaptive control architectures are presented with stability, performance, and robustness considerations, to address challenges related to the verification of adaptive control systems.

The challenges associated with the transient performance of adaptive control systems is first addressed using two new approaches that improve the transient performance. Specifically, the first approach is predicated on a novel controller architecture, which involves added terms in the update law entitled artificial basis functions. These terms are constructed through a gradient optimization procedure to minimize the system error between an uncertain dynamical system and a given reference model during the …