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

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Jan 16, 2023

01:04:04

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ANECDOTE

X-15 Adaptive Control

Early adaptive control was implemented in the X-15 hypersonic program.
Control gains toggled based on real-time measurements, demonstrating practical adaptation before theory.

insights

INSIGHT

Brave Era of Adaptive Control

The "brave era" of adaptive control (1960-1965) saw rapid development.
Influential figures like Kalman, Bellman, and Simone contributed key concepts.

question_answer

ANECDOTE

MIT Rule

The MIT rule, an early adaptation concept, adjusted control parameters.
It aimed to minimize a loss function using gradients, similar to modern machine learning.

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What Has Drawn You to Control?

01:46 • 3min

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What Is Adaptive Control?

04:22 • 4min

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The History of Feedback Control

08:34 • 2min

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Aspects of Adaptive Control Systems in the 70s

10:45 • 5min

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The X-15 Research Program in the United States Air Force

15:18 • 2min

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Adaptive Control in Avionics

17:08 • 3min

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The Fundamentals of Adaptive Control Theory

19:43 • 3min

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Adaptive Control and the Interplay Between Learning and Adaptation

23:12 • 5min

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Adaptive Control - A New Approach to the Problem of Dynamic Control

28:09 • 3min

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Adaptive Control - The Difference Between Direct and Self Tuning Control

31:30 • 4min

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The Importance of Persistence of Excitation in Adaptive Control

35:13 • 5min

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The History of Adaptive Control

40:39 • 4min

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Adaptive Control and Reinforcement Learning

44:55 • 1min

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Adaptive Control and Reinforcement Learning

46:20 • 6min

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What Can Machine Learning and Adaptive Control Do?

51:59 • 3min

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Do You Have Any Advice for Future Students or Doctoral Students?

54:35 • 4min

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Is There a Secret Sauce for When You Feel Stuck?

58:21 • 2min

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Who Are the Most Influential Figures in Your Careers?

01:00:25 • 2min

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The Book Thief Cutting First Stone

01:02:17 • 2min

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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

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Podcast info
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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.

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