Progression of Course Material

Time Line

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.

Key: H - Hovakimyan, IS - Ioannou and Sun, L - Lecture Notes


	Tue:Math	Thu:Control	Reading	References
Week 01	Syllabus Intro	Adaptive Structure Simple Example		H:Intro
Week 01	Syllabus Intro	Adaptive Structure Simple Example		L:00

Week 02	Norms Boundedness	Scalar DMRAC	Continuity, Lipschitz Continuity, Differentiability, etc.	H:1.1,4.3,5,7.1
Week 02	Norms Boundedness	Scalar DMRAC	Continuity, Lipschitz Continuity, Differentiability, etc.	L:01,07

Week 03	Boundedness (ctd) Trapping Region	Barbalat's Lemma Lyapunov Methods	Existence of Solutions	H:1.2, H:2.1
Week 03	Boundedness (ctd) Trapping Region	Barbalat's Lemma Lyapunov Methods	Existence of Solutions	L:02,03,06p12-14

Week 04	Boundedness (ctd) Comparison Lemma Properties of Solutions	Lyapunov Methods (ctd)	Nonlinear Stability	H:2.2
				L:04


Week 05	Lyapunov Method Examples Invariant Sets	SISO DMRAC		H:2.3
Week 05	Lyapunov Method Examples Invariant Sets	SISO DMRAC		L:05, 08

Week 06	LaSalle and Invariant Set Theorems	MIMO DMRAC		H:3,10.1
Week 06	LaSalle and Invariant Set Theorems	Augmenting a Nominal Controller		L:08

Week 07	Time-Varying Lyapunov Theory	Convergence of DMRAC	Augmentation of a Nominal PI Controller	H:4,8, 10.2, 10.3
Week 07	Time-Varying Lyapunov Theory	Persistency of Excitation	Augmentation of a Nominal PI Controller	L:09

Week 08	Time-Varying Lyapunov Theory	Perturbations and Parameter Drift		H:11 L:09
		Perturbations and Parameter Drift
		DMRAC Modifications $\sigma$- and e-Mod
		DMRAC Modifications $\sigma$- and e-Mod

Week 09	Convex Functions	Projection Operator		H12, L:10

Week 10		Disturbance Rejection	Composite Adaptation	H:14, L:06,10


	Tue:Topic	Thu:Topic	Reading	References
Week 11	RBF Networks Approximation Theory	Neuro-Adaptive Control		L:13

Week 12	Neuro-Adaptive Control	Backstepping		L:12

Week 14	Adaptive Backstepping	Input Constraints		H:9, L:11

Week 13	Input Constraints	Least Squares		H:9, L:11

Week 15	Concurrent Learning (CL)	CL-DMRAC		L:XX

Week 16		Adaptive Output Feedback Control		H:16, L:XX

Week TBD		$L_1$-Adaptive Control		H:17, L:XX

Homeworks

The homework may also include related topics that are minor extensions of material covered. Though not explicitly part of lecture, they should follow directly from what was covered, and are reasonable to complete as a homework assignment.

ECE6554 – Main