PYI: Adaptive Control Theory and Applications

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Adaptive control has evolved in the past three decades and has provided a framework within which the control of unknown dynamic systems can be carried out. While fundamental results have been derived for linear time-invariant systems with unknown parameters, the scope of theory needs to be significantly enlarged to include nonlinearities, unmodeled dynamics, and large parameter variations before adaptive control can be used as a design methodology for complex dynamic systems. The research will focus on flexible structures, aircraft systems, and tactile sensing for robots. The intent is to directly address, in each application, the underlying dynamical system and its peculiarities. The objective is to develop adaptive controllers, for each application, by understanding the nature of uncertainties present and the quality of prior information.