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)
In this paper effective Failure Detection, Identification and Reconfiguration (FDIR) algorithms are developed for a class of linearized aircraft models and second-order actuator dynamics. Assuming that the actuator dynamics are fast, a baseline controller is designed and, using the singular perturbation arguments, shown to achieve the control objective.(More)
Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control(More)
In this paper the development and implementation of an Integrated Retrofit Reconfigurable Flight Control design for control effector damage compensation is presented. The proposed damage-adaptive control system has the capability of detecting and identifying flight-critical actuator failures and control effector damage, and rejecting the state-dependent(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)
Parameter estimation problem in dynamical systems can be addressed using the static adaptive observers to generate parameter estimates on line. However, if such estimates are used in a Certainty Equivalence Adaptive Control (CEAC) law, the stability problem arises. In this paper it is shown that the CEAC law, in which parameter estimates are generated using(More)
Most available approaches for adaptive accommodation of failures in flight control actuators result in a large number of parameters that need to be adjusted on-line. In this paper we propose a new failure parameterization that models a large class of failures in terms of a single parameter. The class of failures includes lock-in-place (LIP), float, hardover(More)