U OF M COLLEGE OF ENGINEERING
Ford Motor Company, General Motors and Whirlpool
An Adaptive Approach to Lyapunov Design in Nonlinear
Optimal Stabilization Problems
Professor Randy Freeman
Dept. of Electrical and Computer Engineering
Friday, October 10, 1997
Most nonlinear controldesign methods based on control Lyapunov functions
(CLF's) provide strong guarantees of stability but do not directly address
important issues of large-signal performance. The use of inverse optimality
techniques in the context of CLF design represents an initial effort to
address such issues, but these techniques alone do not guarantee good
performance as measures by a specific cost functional. The speaker will
present a time-varying/dynamic compensation strategy which adaptively
selects one controller from a parameterized family of CLF-based stabilizing
controllers. The purpose of the adaptation is to reduce the value of a given
cost functional, but stability is guaranteed regardless of whether or not
errors in computing the parameter update preclude such cost reduction.
The speaker will present simulations which illustrate the potential of this
Randy A. Freeman received a B.S. in Electrical Engineering from Cornell
University in l990, an M.S. in Electrical Engineering from the University
of Illinois at Urbana-Champaign in l992 and a Ph.D. in Electrical
Engineering from the University of California at Santa Barbara in l995.
He is currently an assistant professor in the Dept. of Electrical and
Computer Engineering at Northwestern University, Evanston, Illinois. He
has authored several journal articles and book chapters on nonlinear
control, robust control and optimal control. He is co-author (with P. V.
Kokotovic) of the book, "Robust Nonlinear Control Design".
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