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| ece6554:schedule [2019/01/30 11:29] – pvela | ece6554:schedule [2024/08/20 21:38] (current) – external edit 127.0.0.1 |
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| The class will be modified slightly from the last time it was taught. We will mostly follow what is below, but some additional topics may be added. Additionally, there is a non-lecture reading track that will have associated homeworks. The reading track should be read prior to the Math track day. Additional notes to complement the reading may be added. | The class will be modified slightly from the last time it was taught. We will mostly follow what is below, but some additional topics may be added. Additionally, there is a non-lecture reading track that will have associated homeworks. The reading track should be read prior to the week listed / by the commencement of the week listed. Additional notes to complement the reading may be added. |
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| **Key:** H - Hovakimyan, IS - Ioannou and Sun, L - Lecture Notes | **Key:** H - Hovakimyan, IS - Ioannou and Sun, L - Lecture Notes |
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| | ^ Math ^ Control ^ Reading ^ References ^ | | ^ Tue:Math ^ Thu:Control ^ Reading ^ References ^ |
| ^ Week 01 | Syllabus \\ Intro | Adaptive Structure \\ Simple Example | | H:Intro | | ^ Week 01 | Syllabus \\ Intro | Adaptive Structure \\ Simple Example | | H:Intro | |
| | ::: | ::: | ::: | ::: | L:00 | | | ::: | ::: | ::: | ::: | L:00 | |
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| ^ Week 05 | Lyapunov Method Examples \\ Invariant Sets | SISO DMRAC | | H:2.3 | | ^ Week 05 | Lyapunov Method Examples \\ Invariant Sets | SISO DMRAC | | H:2.3 | |
| | ::: | ::: | ::: | | L:05, 08 | | | ::: | ::: | ::: | ::: | L:05, 08 | |
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| ^ Week 06 | LaSalle and Invariant \\ Set Theorems | MIMO DMRAC | | H:3,10.1 | | ^ Week 06 | LaSalle and Invariant \\ Set Theorems | MIMO DMRAC | | H:3,10.1 | |
| | ::: | ::: | ::: | ::: | L:08 | | | ::: | ::: | Augmenting a Nominal Controller | ::: | L:08 | |
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| ^ Week 07 | Convergence of DMRAC \\ Persistency of Excitation | Augmentation with DMRAC | Direct MRAC Augmentation | H:8, 10.2, 10.3 | | ^ Week 07 | Time-Varying Lyapunov Theory | Convergence of DMRAC | Augmentation of a Nominal PI Controller | H:4,8, 10.2, 10.3 | |
| | ::: | ::: | ::: | ::: | L:09 | | | ::: | ::: | Persistency of Excitation | ::: | L:09 | |
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| ^ Week 08 | Perturbations and DMRAC \\ Paramtere Drift | DMRAC Modifications \\ $\sigma$- and e-Mod | | H:11 | | ^ Week 08 | Time-Varying Lyapunov Theory | Perturbations and \\ Parameter Drift | ::: | H:11 \\ L:09 | |
| | ::: | ::: | ::: | ::: | L:09 | | | ::: | ::: | ::: | ::: | ::: | |
| ||| | | ::: | ::: | DMRAC Modifications \\ $\sigma$- and e-Mod | ::: | ::: | |
| ^ Week 09 | Projection Operator | Projection Operator | | H12, L:10 | | | ::: | ::: | ::: | ::: | ::: | |
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| ^ Week 10 | Time-Varying Lyapunov Theory | Disturbance Rejection | Composite Adaptation | H:4, L:06,10 | | ^ Week 09 | Convex Functions | Projection Operator | | H12, L:10 | |
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| | ^ Week 10 | | Disturbance Rejection | Composite Adaptation | H:14, L:06,10 | |
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| ^ Week 11 | | Disturbance Rejection | | H:14, L:10 | | | ^ Tue:Topic ^ Thu:Topic ^ Reading ^ References ^ |
| | ^ Week 11 | RBF Networks \\ Approximation Theory | Neuro-Adaptive Control | | L:13 | |
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| ^ Week 12 | | Input constraints | | H:9, L:11 | | ^ Week 12 | Neuro-Adaptive Control | Backstepping | | L:12 | |
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| ^ Week 13 | | Input Constraints | | | | ^ Week 14 | Adaptive Backstepping | Input Constraints | | H:9, L:11 | |
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| ^ Week 14 | RBF Networks \\ Approximation Theory | Neuro-Adaptive Control | ::: | L:13 | | ^ Week 13 | Input Constraints | Least Squares | | H:9, L:11 | |
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| ^ Week 15 | Backstepping | Adaptive Backstepping | | L:12 | | ^ Week 15 | Concurrent Learning (CL) | CL-DMRAC | | L:XX | |
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| ^ Week 16 | Concurrent Learning (CL) | CL-DMRAC | | L:XX | | ^ Week 16 | | Adaptive Output Feedback Control | | H:16, L:XX | |
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| ^ Week TBD | Adaptive Output Feedback Control | | | H:16, L:XX | | ^ Week TBD | | $L_1$-Adaptive Control | | H:17, L:XX | |
| ^ Week TBD | $L_1$-Adaptive Control | | | H:17, L:XX | | |
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