Safe Adaptive Switching through Infinite Controller Set: Stability and Convergence
| Authors: | Stefanovic Margareta, University of Southern California, United States
Paul Ayanendu, University of Southern California, United States
Safonov Michael G., University of Southern California, United States |
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| Topic: | 1.2 Adaptive and Learning Systems |
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| Session: | Switching and Multiple Model Approaches to Adaptation |
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| Keywords: | Adaptive Control, Convergence, Robustness, Stability, Switching |
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Abstract
A primary goal of adaptive control is to achieve stability and asymptotically optimal performance, given the feasibility of adaptive control problem - defined as the existence of a stabilizing solution in a continuously parametrized controller set. A solution is proposed called safe adaptive control, which robustly achieves this goal without any assumptions other than feasibility. Specifically, a list of required properties of the cost function is formulated. The paper builds on the previous results in Stefanovic et al. (2004) and Morse et al. (1992). The previous results are generalized here by allowing the class of candidate controllers to be infinite. The problem is motivated by a model-mismatch stability failureassociated with a multitude of adaptive control schemes.
