Some Approaches to Designing Adaptive Systems

Control of dynamic technical objects in locked-loop systems with negative feedback is widely used in robotics and all complex technical devices. The theory of ensuring accuracy, speed, and control quality is well developed for the case of stationary objects. If the parameters of the controlled object change over time, the development of adaptive systems is recommended. Many articles and monographs have been written on the topic of adaptive control, but most often they provide only general indications that an additional external loop is necessary to change the controller parameters so that the modified controller more successfully ensures control accuracy and quality than its previous version. At the same time, methods for solving the two most complex sub-problems almost never were disclosed: determining how exactly the mathematical model of the object has changed and deciding how exactly the controller parameters should be changed to provide the required properties of the system as a whole. This paper proposes some general principles for designing adaptive systems and demonstrates their effectiveness using several examples.