Jovan D. Boskovic

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This paper presents a method that can achieve fast adaptation for a class of model-reference adaptive control systems. It is well known that standard model-reference adaptive control exhibits high-gain control behaviors when a large adaptive gain is used to achieve fast adaptation in order to reduce tracking error rapidly. High-gain control creates(More)
In the past several years there has been a lot of interest in the design of efficient autonomous intelligent controllers for Unmanned Aerial Vehicles (UAV). This is a highly complex and challenging problem since future UAVs will be expected to complete autonomously a wide variety of complex missions, and achieve performance comparable to that of manned(More)
—A systematic design procedure using state-feedback Certainty Equivalence Adaptive Control (CEAC) technique is developed for linear plants and a class of nonlinear plants with unmatched uncertainty. It is shown that a reduced order observer and adaptive laws with normalization in conjunction with the CEAC law result in a stable overall system in the case of(More)
— This paper presents a bounded linear stability analysis for a hybrid adaptive control that blends both direct and indirect adaptive control. Stability and convergence of nonlinear adaptive control are analyzed using an approximate linear equivalent system. A stability margin analysis shows that a large adaptive gain can lead to a reduced phase margin.(More)
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