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An Adaptive Approach to Lyapunov Design in Nonlinear Optimal Stabilization Problems

Professor Randy Freeman
Dept. of Electrical and Computer Engineering
Northwestern University
Technological Institute
Evanston, IL

Friday, October 10, 1997
Rm. 1200EECS


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 adaptive scheme.


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".
If you would like to meet with our speaker, please contact Ann Pace, (313) 763-5022 or at ampace@eecs.umich.edu

dmt 10/8/97