joechai93 / adaptive-control

Scripts demonstrating a variety of adaptive control algorithms.

Adaptive Control

A collection of MATLAB scripts from my postgraduate studies and research. None of these are earth-shatteringly novel. They are just implementations of existing adaptive control techniques. These scripts are intended to assist fellow researchers and postgrad students in the field of adaptive control. Some of the control algorithms in this repo include:

• model identification methods using least squares
• model reference adaptive control (direct and indirect)
• robust adaptive control methods
  • demonstration of parameter drift
  • Rohr's canonical example of MRAC instability from unmodelled dynamics
  • demonstration of time delay margin in MRAC
  • L1 adaptive control

References

N. T. Nguyen, "Model-Reference Adaptive Control: A Primer", Advanced Textbooks in Control and Signal Processing, Springer, 2018

C. Cao, N. Hovakimwan, "L1 Adaptive Control Theory: Guaranteed Robustness with Fast Adaptation", Volume 21 of Advances in Design and Control, SIAM, 2010

J. Chai, E. Medagoda, E. Kayacan, "Adaptive and Efficient Model Predictive Control for Booster Reentry", Journal of Guidance, Control, and Dynamics, American Institute of Aeronautics and Astronautics, 2020