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arXiv · 2010.10329

Sub-Optimality of a Dyadic Adaptive Control Architecture

Aditya A. Paranjape·Soon-Jo Chung
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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.

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Aditya A. Paranjape, Soon-Jo Chung. 2020-10-18. Sub-Optimality of a Dyadic Adaptive Control Architecture. https://arxiv.org/abs/2010.10329

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