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ep8 - Anuradha Annaswamy: Adaptive Control - From the "Brave Era" to Reinforcement Learning and Back

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Manage episode 352628260 series 3348936
Content provided by Alberto Padoan. All podcast content including episodes, graphics, and podcast descriptions are uploaded and provided directly by Alberto Padoan or their podcast platform partner. If you believe someone is using your copyrighted work without your permission, you can follow the process outlined here https://player.fm/legal.

In this episode, our guest is Anuradha Annaswamy. Anu is the Director of the Active-Adaptive Control Laboratory and Senior Research Scientist at the Massachusetts Institute of Technology in the Deparment of Mechanical Engineering. We delve into adaptive control and its exciting history, ranging from the Brave Era to the audacious X15 tests and to modern intersections with Reinforcement Learning.
Outline
02:15 - Anu's background
05:20 - What is adaptation?
08:30 - The Brave Era
15:17 - The X15 accident
23:16 - Exploration vs exploitation
28:35 - Beyond linearity and time invariance
45:05 - Adaptive control vs Reinforcement Learning
52:12 - The future of adaptive control
54:34 - Outro
Episode links
Anu's lab: http://aaclab.mit.edu/
NCCR Symposium: https://tinyurl.com/bdz84p4c
Book - Stable adaptive systems: https://tinyurl.com/mw4saame
X-15 Flight 3-65-97: https://tinyurl.com/2kbe7nsy
Paper - Adaptive Control and the NASA X-15-3 Flight Revisited: https://tinyurl.com/2p83k7ez
Paper - A historical perspective of adaptive control and learning: https://tinyurl.com/yck89rcd
Paper -Adaptive Control and Intersections with Reinforcement Learning: https://tinyurl.com/yc27rsyd
KYP Lemma: https://tinyurl.com/mkf35jjt
Persistence of excitation: https://tinyurl.com/bpfwp9n9
Dual control: https://tinyurl.com/ywduzm5x
Paper - Robust adaptive control in the presence of bounded disturbances: https://tinyurl.com/4pztx23z
Paper - Reinforcement learning is direct adaptive optimal control https://tinyurl.com/appnjzyn
MRAC: https://tinyurl.com/bdzzphju
Self Tuning Control: https://tinyurl.com/3mjs3skm
Support the Show.

Podcast info
Podcast website: https://www.incontrolpodcast.com/
Apple Podcasts: https://tinyurl.com/5n84j85j
Spotify: https://tinyurl.com/4rwztj3c
RSS: https://tinyurl.com/yc2fcv4y
Youtube: https://tinyurl.com/bdbvhsj6
Facebook: https://tinyurl.com/3z24yr43
Twitter: https://twitter.com/IncontrolP
Instagram: https://tinyurl.com/35cu4kr4
Acknowledgments and sponsors
This episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

  continue reading

24 episodes

Artwork
iconShare
 
Manage episode 352628260 series 3348936
Content provided by Alberto Padoan. All podcast content including episodes, graphics, and podcast descriptions are uploaded and provided directly by Alberto Padoan or their podcast platform partner. If you believe someone is using your copyrighted work without your permission, you can follow the process outlined here https://player.fm/legal.

In this episode, our guest is Anuradha Annaswamy. Anu is the Director of the Active-Adaptive Control Laboratory and Senior Research Scientist at the Massachusetts Institute of Technology in the Deparment of Mechanical Engineering. We delve into adaptive control and its exciting history, ranging from the Brave Era to the audacious X15 tests and to modern intersections with Reinforcement Learning.
Outline
02:15 - Anu's background
05:20 - What is adaptation?
08:30 - The Brave Era
15:17 - The X15 accident
23:16 - Exploration vs exploitation
28:35 - Beyond linearity and time invariance
45:05 - Adaptive control vs Reinforcement Learning
52:12 - The future of adaptive control
54:34 - Outro
Episode links
Anu's lab: http://aaclab.mit.edu/
NCCR Symposium: https://tinyurl.com/bdz84p4c
Book - Stable adaptive systems: https://tinyurl.com/mw4saame
X-15 Flight 3-65-97: https://tinyurl.com/2kbe7nsy
Paper - Adaptive Control and the NASA X-15-3 Flight Revisited: https://tinyurl.com/2p83k7ez
Paper - A historical perspective of adaptive control and learning: https://tinyurl.com/yck89rcd
Paper -Adaptive Control and Intersections with Reinforcement Learning: https://tinyurl.com/yc27rsyd
KYP Lemma: https://tinyurl.com/mkf35jjt
Persistence of excitation: https://tinyurl.com/bpfwp9n9
Dual control: https://tinyurl.com/ywduzm5x
Paper - Robust adaptive control in the presence of bounded disturbances: https://tinyurl.com/4pztx23z
Paper - Reinforcement learning is direct adaptive optimal control https://tinyurl.com/appnjzyn
MRAC: https://tinyurl.com/bdzzphju
Self Tuning Control: https://tinyurl.com/3mjs3skm
Support the Show.

Podcast info
Podcast website: https://www.incontrolpodcast.com/
Apple Podcasts: https://tinyurl.com/5n84j85j
Spotify: https://tinyurl.com/4rwztj3c
RSS: https://tinyurl.com/yc2fcv4y
Youtube: https://tinyurl.com/bdbvhsj6
Facebook: https://tinyurl.com/3z24yr43
Twitter: https://twitter.com/IncontrolP
Instagram: https://tinyurl.com/35cu4kr4
Acknowledgments and sponsors
This episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

  continue reading

24 episodes

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