NPTEL : NOC:Nonlinear Adaptive Control (Mechanical Engineering)

Co-ordinators : Prof. Srikant Sukumar


Lecture 1 - Basic Concepts and Nomenclature

Lecture 2 - Preliminaries - Part 1

Lecture 3 - Preliminaries - Part 2

Lecture 4 - Preliminaries - Part 3

Lecture 5 - Preliminaries - Part 4

Lecture 6 - Preliminaries - Part 5

Lecture 7 - Barbalat's Lemma - Part 1

Lecture 8 - Barbalat's Lemma - Part 2

Lecture 9 - Convergence of Signals using Barbalat's Lemma - Part 1

Lecture 10 - Convergence of Signals using Barbalat's Lemma - Part 2

Lecture 11 - Notions of Stability - Part 1

Lecture 12 - Notions of Stability - Part 2

Lecture 13 - Stability Analysis with Examples - Part 1

Lecture 14 - Stability Analysis with Examples - Part 2

Lecture 15 - Stability Analysis with Examples - Part 3

Lecture 16 - Stability Analysis with Examples - Part 4

Lecture 17 - Stability Analysis in Linear Systems

Lecture 18 - Function Classes and Definiteness

Lecture 19 - Positive Definite Functions

Lecture 20 - Radially Unbounded Functions

Lecture 21 - Decrescent Functions

Lecture 22 - Lyapunov Stability Theorems - Part 1

Lecture 23 - Lyapunov Stability Theorems - Part 2

Lecture 24 - Lyapunov Stability Theorems - Part 3

Lecture 25 - Exponential Stability and Converse Lyapunov Theorems

Lecture 26 - Persistence of Excitation (PE): Introduction

Lecture 27 - Connection of PE to Stability, Uniform Complete Observability (UCO)

Lecture 28 - Exponential Stability of LTV systems, PE and Exponential Stability

Lecture 29 - Parameter Identifier Convergence under PE Condition

Lecture 30 - Analysis of Parameter Varying Systems using General Integral Lemma - Part 1

Lecture 31 - Analysis of Parameter Varying Systems using General Integral Lemma - Part 2

Lecture 32 - Adaptive Control Design: First Order Scalar Systems

Lecture 33 - Barbalat's Lemma and Signal Chasing Anslysis

Lecture 34 - Parameter Convergence in Adaptive Control Design

Lecture 35 - Adaptive Control Design: Second-Order Systems

Lecture 36 - Overcoming the Detectability Obstacle: Ortega Construction

Lecture 37 - Backstepping in Adaptive Control: Introduction - Part 1

Lecture 38 - Backstepping in Adaptive Control: Introduction - Part 2

Lecture 39 - Backstepping in Adaptive Control: Parameters Unmatched with Control - Part 1

Lecture 40 - Backstepping in Adaptive Control: Parameters Unmatched with Control - Part 2

Lecture 41 - How to Deal with Unknown Gains in Control

Lecture 42 - Setup of Model Reference Adaptive Control (MRAC) Problem

Lecture 43 - Model Reference Adaptive control: For Known and Unknown Parameters

Lecture 44 - Model Reference Adaptive control: Lyapunov Stability Analysis

Lecture 45 - Generalization of Adaptive Integrator Backstepping Method - Part 1

Lecture 46 - Generalization of Adaptive Integrator Backstepping Method - Part 2

Lecture 47 - Extended Matching Design for Avoiding Overparameterization

Lecture 48 - Adaptive Integrator Backstepping Method: An Example - Part 1

Lecture 49 - Adaptive Integrator Backstepping Method: An Example - Part 2

Lecture 50 - Extended Matching Design: An Example

Lecture 51 - Control Lyapunov Function

Lecture 52 - Tuning Function Adaptive Method

Lecture 53 - Adaptive Backstepping via Control Lyapunov Function (CLF)

Lecture 54 - Adaptive Backstepping via CLF: An Example

Lecture 55 - Robustness in Adaptive Control - Part 1

Lecture 56 - Robustness in Adaptive Control - Part 2

Lecture 57 - Parameter Projection in Adaptive Control - Part 1

Lecture 58 - Parameter Projection in Adaptive Control - Part 2

Lecture 59 - Parameter Projection in Adaptive Control - Part 3

Lecture 60 - Sigma- Modification and Epsilon-Modification in Adaptive Control

Lecture 61 - Initial Excitation in Adaptive Control - Part 1

Lecture 62 - Initial Excitation in Adaptive Control - Part 2

Lecture 63 - Initial Excitation in Adaptive Control - Part 3

Lecture 64 - Initial Excitation in Adaptive Control - Part 4

Lecture 65 - Initial Excitation in Adaptive Control - Part 5

Lecture 66 - Discussion on Historical Developments in Adaptive Control and Learning

Lecture 67 - Real Time Neural Network Based Control of a Robotic Manipulator - Part 1

Lecture 68 - Real Time Neural Network Based Control of a Robotic Manipulator - Part 2

Lecture 69 - Real Time Neural Network Based Control of a Robotic Manipulator - Part 3

Lecture 70 - Real Time Neural Network Based Control of a Robotic Manipulator - Part 4

Lecture 71 - Real Time Neural Network Based Control of a Robotic Manipulator - Part 5