Robust and Adaptive Control

Eugene Lavretsky is a Boeing Senior Technical Fellow, at the Boeing Research & Technology in Huntington Beach, CA. During his career at Boeing, Dr. Lavretsky has developed flight control methods, tools and processes for transport aircraft, advanced unmanned aircraft, and weapon system programs. Highlights include the MD-11 aircraft, NASA F/A-18 Autonomous Formation Flight and High Speed Civil Transport aircraft, JDAM guided munitions, and X-45 J-UCAS. His research interests include robust and adaptive control, system identification and flight dynamics. He has written over 90 technical articles, and has taught control courses at the California Long Beach State University, Claremont Graduate University, California Institute of Technology, University of Missouri Science and Technology, and at the University of Southern California. Dr. Lavretsky is an Associate Fellow of AIAA and a Sr. Member of IEEE. He is the recipient of the AIAA Mechanics and Control of Flight Award, (2009). Kevin A. Wise is a Boeing Senior Technical Fellow, at the Boeing Phantom Works, Saint Louis, Missouri. During his career at Boeing, Dr. Wise has developed vehicle management systems, flight control systems, and control system design tools and processes for several advanced unmanned aircraft and weapon system programs. Highlights include the hydrogen-powered Phantom Eye High Altitude Long Endurance (HALE)UAV, Laser-JDAM (in production), X-45A J-UCAS, X-36 RESTORE, Miniaturized Munitions Technology Demonstrator, 4th Generation Ejection Seat (first ever supersonic ejection), JDAM (in production), Army Short Range UAV, and the HAVE SLICK missile. His research interests include intelligent autonomy, aircraft and missile dynamics and control, robust adaptive control, optimal control, and robustness theory. He has authored more than 70 technical articles, and has taught graduate level control theory since 1987 at Washington University in St. Louis, Southern Illinois University at Edwardsville, and at the University of Missouri Science and Technology. Dr. Wise is a Fellow of the IEEE and an Associate Fellow of the AIAA. He is the recipient of the IFAC Control Engineering Practice Award, (2007), and the AIAA Mechanics and Control of Flight Award, (2004).

Part I: Robust and Optimal Control of Linear Systems.- Introduction to Control of Aerial Vehicles.- Command Tracking and Servomechanism Design.0 Optimal Control and Linear Quadratic Regulator (LQR).- H-infinity Optimal Control.- Stability Margins and Frequency Domain Consideration.- Projective Control.- Linear Quadratic Gaussian with Loop-transfer Recovery (LQG/LTR) Control.- Simulation Examplse and Case Studies.- Exercises.- Part II: Model Reference Adaptive Control.- Motivation.- Lyapunov Stability Theory: Introduction and Overview.- Adaptive Control Architectures: Direct vs. Indirect.- MRAC and Model Matching Conditions.- Adaptive Dynamic Inversion.- Persistency of Excitation.- Enforcing Robustness in MRAC Systems.- Approximation-based MRAC.- Adaptive Augmentation of a Linear Baseline Controller.- Simulation Examples and Case Studies.- Exercises.- Part III: MRAC Design Extensions.- Limited-authority Adaptive Control.- Predictor-based Control.- Combined/Composite MRAC.- Filtered MRAC Design.- MRAC Design Using Output Feedback.- Simulation Examples and Case Studies.- Conclusions, Future Work and Flight Control Challenges.