TR2013-135

Nonlinear Learning-based Adaptive Control for Electromagnetic Actuators


    •  Benosman, M.; Atinc, G.M., "Nonlinear Learning-based Adaptive Control for Electromagnetic Actuators", European Control Conference (ECC), July 2013.
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      • @inproceedings{Benosman2013jul1,
      • author = {Benosman, M. and Atinc, G.M.},
      • title = {Nonlinear Learning-based Adaptive Control for Electromagnetic Actuators},
      • booktitle = {European Control Conference (ECC)},
      • year = 2013,
      • month = jul,
      • url = {http://www.merl.com/publications/TR2013-135}
      • }
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    Control


We present in this paper our preliminary results on the problem of learning-based adaptive trajectory tracking control for electromagnetic actuators. First, we develop a nominal nonlinear back stepping controller that stabilizes the tracking errors asymptotically and globally. Second, we robustify the nominal controller using a model-free learning technique, namely, multiparameter extremum seeking, to estimate the uncertain model parameters. In this sense we are proposing to solve an adaptive control problem with model-free learning based algorithms. We show the performance of the proposed controller on a numerical example.