Sub-Optimality of a Dyadic Adaptive Control Architecture
Abstract
The dyadic adaptive control architecture evolved as a solution to the problem of designing control laws for nonlinear systems with unmatched nonlinearities, disturbances and uncertainties. A salient feature of this framework is its ability to work with infinite as well as finite dimensional systems, and with a wide range of control and adaptive laws. In this paper, we consider the case where a control law based on the linear quadratic regulator theory is employed for designing the control law. We benchmark the closed-loop system against standard linear quadratic control laws as well as those based on the state-dependent Riccati equation. We pose the problem of designing a part of the control law as a Nehari problem. We obtain analytical expressions for the bounds on the sub-optimality of the control law.
Cite
@article{arxiv.2010.10329,
title = {Sub-Optimality of a Dyadic Adaptive Control Architecture},
author = {Aditya A. Paranjape and Soon-Jo Chung},
journal= {arXiv preprint arXiv:2010.10329},
year = {2020}
}
Comments
13 pages, 1 figure