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      Attention-enabled memory for concurrent learning adaptive control

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      Author(s)
      Habboush, Abdullah
      Yıldız, Yıldıray
      Date
      2022-12-16
      Source Title
      IEEE Control Systems Letters
      Electronic ISSN
      2475-1456
      Publisher
      Institute of Electrical and Electronics Engineers
      Volume
      7
      Pages
      967 - 972
      Language
      English
      Type
      Article
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      Abstract
      Transient tracking error dynamics are inevitable in any practical closed-loop control system. While numerous works are devoted to improving these dynamics, in this letter, we focus on taking advantage of it first, in the context of adaptive control. We propose a memory architecture that can make use of stored significant data about the transients of previously experienced anomalies to aid in obtaining a resilient system against uncertainties. The proposed architecture consists of 1) a memory containing data about a variety of uncertainties, 2) a short-term memory that aids in handling new uncertainties, and 3) an attention-based reading mechanism that enables the controller to retrieve only relevant data from the memory. The effectiveness of the architecture is validated through numerical simulations, and a rigorous Lyapunov stability analysis is provided.
      Keywords
      Adaptive control
      Uncertain systems
      Permalink
      http://hdl.handle.net/11693/111915
      Published Version (Please cite this version)
      https://doi.org/10.1109/LCSYS.2022.3229961
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      • Department of Electrical and Electronics Engineering 4011
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