RESEARCH INITIATION AWARD: Adaptive Control of Nonlinear Systems: New Design and Analysis Tools

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9309402 Kannellakopoulos The proposed research will focus on the development of the nonlinear design toolkit. Novel Backstepping techniques and new nonlinear damping terms will be employed to design adaptive systems with even stronger stability and performance properties, by interlacing the design of the controller, observer and parameter estimator. The recent breakthrough of damped interlacing will produce a new generation of adaptive systems, in which adaptation is not needed for boundedness, but is used only to improve transient and asymptotic performance. To enhance the applicability of the new adaptive schemes to practical problems, their robustness with respect to several sources of modeling errors will be evaluated, and new robustification tools will be developed. Finally, to understand the issues related to digital implementation, the problem of adaptive control of discrete-time nonlinear systems will be addressed. A discrete-time design toolkit will be developed which will hopefully alleviate the need for short sampling intervals. ***