Nonlinear Adaptive Control

By Prof. Srikant Sukumar | IIT Bombay

Learners enrolled: 353

About the course: The course provides a comprehensive introduction to control design for nonlinear systems, specifically adaptive control which is a popular applied nonlinear control method for uncertain parametric systems. Adaptive control is one of the few nonlinear control methods to have found significant acceptance in the industry, especially defense and aeronautics. The course attendees will delve into nonlinear control design methods much more than anywhere else and by the end of the course are expected to be able to design nonlinear and adaptive controllers for a variety of systems. The examples used in the course will usually come from spacecraft attitude dynamics, robot manipulator dynamics and other aeromechanical systems.

PRE-REQUISITES: Linear Systems (State Space)

INTENDED AUDIENCE: Advanced Undergraduate and MTech/PhD students in their second year.

INDUSTRY SUPPORT: Space Industry – ISRO, Control and Robotics industry – John Deere, ABB, MATLAB, GE Research, Mercedes Benz Research etc.

Summary

Course Status :	Completed
Course Type :	Elective
Language for course content :
Duration :	12 weeks
Category :	Aerospace Engineering Mechanical Engineering Electrical, Electronics and Communications Engineering
Credit Points :	3
Level :	Postgraduate
Start Date :	25 Jul 2022
End Date :	14 Oct 2022
Enrollment Ends :	08 Aug 2022
Exam Date :	30 Oct 2022 IST

Note: This exam date is subject to change based on seat availability. You can check final exam date on your hall ticket.

Page Visits

Course layout

Week 1: Introduction to Adaptive Control; Common myths in control; Vector, Matrix and Signal Norms

Week 2: Barbalat’s Lemma and Illustration of use; Equilibrium definitions;

Week 3: Lyapunov Stability definitions – stability, uniformity, attractivity, asymptotic stability, exponential stability; Stability of Linear systems.

Week 4: Function classes; Definiteness, radial boundedness, decrescence; Lyapunov stability theorems

Week 5: La Salle’s Invariance; Persistence of Excitation; Uniform Complete Observability; Alternate Exponential stability theorems

Week 6: Certainty Equivalence Adaptive control – First and Second order systems; Detectability obstacle and Ortega construction

Week 7: Introduction to Backstepping in Adaptive Control; Backstepping for unmatched unknown

Week 8: Unknown Control Gain adaptation; Model Reference Adaptive Control (MRAC)

Week 9: integrator backstepping adaptation general case; Extended Matching – integrator backstepping adaptation

Week 10: Tuning Functions based integrator backstepping adaptation, Robustness in adaptive control – sigma modification; Parameter projection

Week 11: Initial excitation adaptive control – single and double integrator

Week 12: Deep Learning – Introduction and applications, Radial Basis function based Neural Network function approximation, Multilayer Neural Networks

Books and references

P. Ioannou and J. Sun, Robust Adaptive Control, Upper Saddle River, NJ: Prentice Hall 1996
Miroslav Krstic, Ioannis Kanellakopoulos, Petar V. Kokotovic Nonlinear and Adaptive Control Design, Wiley Series, July 1995
S. Sastry and M. Bodson, Adaptive Control: Stability, Convergence and Robustness, Upper Saddle River, NJ: Prentice Hall 1989
K. S. Narendra and A. M. Annaswamy, Stable Adaptive Systems, Dover Publications, 2005
H. K. Khalil, Nonlinear Systems, Pearson Publications, Third Edition, 2002
M. Vidyasagar, Nonlinear Systems Analysis, Second Edition, SIAM, 2002

Instructor bio

Prof. Srikant Sukumar

IIT Bombay

Prof. Srikant Sukumar completed his PhD in Aerospace Engineering from The University of Texas at Austin with a specialisation in nonlinear adaptive control of space and aerial vehicles in 2011. He has since been a faculty at the Systems and Control Engineering Department at IIT Bombay where he is currently an Associate Professor. He has been a Max Planck Fellow. He serves as a member of the IEEE conference editorial board , the IEEE Technical Society for Space Vehicles and as an Associate Editor for the IEEE Transactions for Aerospace Engineering Systems. He actively mentors student teams in developing urban aerial vehicles, nano-satellites and autonomous vehicles. His research interests lie in adaptive nonlinear control, geometric control and observation, cooperative control and estimation over networks.

Course certificate

The course is free to enroll and learn from. But if you want a certificate, you have to register and write the proctored exam conducted by us in person at any of the designated exam centres.

The exam is optional for a fee of Rs 1000/- (Rupees one thousand only).

Date and Time of Exams: 30 October 2022 Morning session 9am to 12 noon; Afternoon Session 2pm to 5pm.

Registration url: Announcements will be made when the registration form is open for registrations.

The online registration form has to be filled and the certification exam fee needs to be paid. More details will be made available when the exam registration form is published. If there are any changes, it will be mentioned then.

Please check the form for more details on the cities where the exams will be held, the conditions you agree to when you fill the form etc.

CRITERIA TO GET A CERTIFICATE

Average assignment score = 25% of average of best 8 assignments out of the total 12 assignments given in the course.

Exam score = 75% of the proctored certification exam score out of 100

Final score = Average assignment score + Exam score

YOU WILL BE ELIGIBLE FOR A CERTIFICATE ONLY IF AVERAGE ASSIGNMENT SCORE >=10/25 AND EXAM SCORE >= 30/75. If one of the 2 criteria is not met, you will not get the certificate even if the Final score >= 40/100.

Certificate will have your name, photograph and the score in the final exam with the breakup.It will have the logos of NPTEL and IIT Bombay .It will be e-verifiable at nptel.ac.in/noc.

Only the e-certificate will be made available. Hard copies will not be dispatched.

Once again, thanks for your interest in our online courses and certification. Happy learning.

- NPTEL team