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dc.contributor.authorLakshmikanth, Geethalakshmi S.
dc.contributor.authorPadhi, Radhakant
dc.contributor.authorWatkins, John Michael
dc.contributor.authorSteck, James E.
dc.identifier.citationLakshmikanth G. S., Padhi R., Watkins J. M. and Steck J. E. (2014), Single network adaptive critic aided dynamic inversion for optimal regulation and command tracking with online adaptation for enhanced robustness, Optim. Control Appl. Meth., vol. 35:no. 4:pp 479–500, doi: 10.1002/oca.2083en_US
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractTo combine the advantages of both stability and optimality-based designs, a single network adaptive critic (SNAC) aided nonlinear dynamic inversion approach is presented in this paper. Here, the gains of a dynamic inversion controller are selected in such a way that the resulting controller behaves very close to a pre-synthesized SNAC controller in the output regulation sense. Because SNAC is based on optimal control theory, it makes the dynamic inversion controller operate nearly optimal. More important, it retains the two major benefits of dynamic inversion, namely (i) a closed-form expression of the controller and (ii) easy scalability to command tracking applications without knowing the reference commands a priori. An extended architecture is also presented in this paper that adapts online to system modeling and inversion errors, as well as reduced control effectiveness, thereby leading to enhanced robustness. The strengths of this hybrid method of applying SNAC to optimize an nonlinear dynamic inversion controller is demonstrated by considering a benchmark problem in robotics, that is, a two-link robotic manipulator system. Copyright (C) 2013 John Wiley & Sons, Ltd.en_US
dc.description.sponsorshipNational Aeronautics and Space Administration (NASA) under award number NNXO9AP20A.en_US
dc.publisherJohn Wiley & Sons, Inc.en_US
dc.relation.ispartofseriesOptimal Control Applications and Methods;v.35:no.4
dc.subjectAdaptive criticen_US
dc.subjectSingle network adaptive criticen_US
dc.subjectDynamic inversionen_US
dc.subjectOnline adaptationen_US
dc.subjectReconfigurable controlen_US
dc.subjectRobotic manipulatoren_US
dc.titleSingle network adaptive critic aided dynamic inversion for optimal regulation and command tracking with online adaptation for enhanced robustnessen_US

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  • AE Research Publications
    Research publications authored by the Department of Aerospace Engineering faculty and graduate students.

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