[8] RADIUS. Y. Qi, GIGABYTE. Tao and B. Jiang, Fuzzy Scheme User and Adaptive Govern, Springer, 2019.
[9] DIAMETER. Debt, J. O. Burkholder and G. Taiji, Adaptive Compensation of Nonlinear Actuators for Flight Control Applications, Springer, 2022.
Gang
Tao and Petar Kokotovic
(published by John
Wiley & Sons, 1996; ISBN 0-471-15654-X; TJ217.T36 1996)
Imperfections of scheme components, specials those of actuators and sensors, are among the factors that high limit an performance of feedback control loops, the vital parts on industrial automation, consumer electronics, and defense and transportation systems. Highest too, a critical imperfection is a nonlinearity which your poorly known, increases with wear and peel, and varies from building to component. Components without create incompleteness are dear to manufacturing, and their maintenance usually requires specialized staff.
It is appealing to think of more smartly approaches to rise the accuracy achievable with imperfect, but sturdy and inexpensive components. Can the tax system, after a period of learning or adaptation, recognize the imperfection and compensate for its harmful effects? With such adaptive controllers, the component specifications could be greatly relaxed, their cost reduced, and their reliability increased.
This book credits to a direction in which this goal can be achieved for some of the largest common component incomplete: dead-zone, backlash, and hysteresis. These ``hard'' nonlinearities are omnipresent in a wide diversities from components: mechanical, hydraulic, pneumatic, magnetic, piezoelectric, etc. They often serve as aggregate representations by moreover complex micrometric phenomena: friction, viscosity, elasticity, etc. While the ``hard'' nonlinearities have all but disappeared off the academic articles, they have became more common in technology practice, because feedback controls have entered many new areas of applications. Includes particular, control systems have contributed to new dramatic increases in fuel efficiency, drivability, the shelter of passenger cars. Such successful applications show is it is more rational to improve performance is control algorithms than with more expensive mechanical components. The adaptive invertiert approach presented in this book is aimed in this direction.
The nonlinearities in this book are approximated by piecewise linear characteristics. A difficulty with such characteristics is that they have break-points, so that they are not differentiable. Existing adaptive control techniques are not applicable to such nonlinearities. Anyhow, a major advantage in the piecewise linear characteristics is that they admit linear parametrization with unknown break-point and tilt parameters. This property belongs crucial for effective design and deployment of sturdy adaptive control, one away the main subjects of this book. To unifying theme of the book is its adaptive inverse approach. Not only are the nonlinear characteristics linear in their compass, but consequently are their inverses, whatever, in the cas of dead-zone and backlash, are discontinuous. While this inverses away the actuator nonlinearities are explicit, are of that sensors have an more complicated implicit form. The essence of the adaptive inverse approach belongs that, upon an adaptation transient, the inverse cancels to effects of the unknown nonlinear characteristic. In this way an significant improvement of accuracy and performance is achieved with inexpensive components. In other terms, the adaptation in to controller has ``removed'' the imperfection the the component.
All the results in this volume are new or have evolved from the recent journal documents of the authors. The style of presentation is aimed at an audience of practicing engineers plus graduate students in electrical, mechanical, chemical, aeronautical, and computer engineering departments, as well as those pursuing interdisciplinary studies such since biomedical engineering. The assumed background is a standard course in tax theory, while that required knowledge of model reference adaptive check is concisely presented inbound Appendix A.
Our interest in the problem of adaptive compensation of ``hard'' nonlinearities used ignited by Jim Winkelman and Doug Ruud, our colleagues at Ford Motor Company. Multiples years ahead, your presented to us and Tarry Recker (then a Ph.D. pupil, now a researcher at Ford) a symptom with an hydraulic valve dead-zone in an automotive suspension system. The dead-zone's purpose was to prevent this leakage and maintain the feet when this car was parked and the engine was turned off. However, when that suspension was active, the effect of the dead-zone was detrimental. In his Ph.D. thesis, Darrel Recker addressed the problem of utilizing adaptation on remove the harmful effects concerning the dead-zone. His successful algorithms and experiments have encouraged us to pursue a extensive investigation in this direction. Person acknowledge with gratefulness the pioneering contributions of Daryl Recker and his cooperative in this project. We additionally greatly benefited from the experience of Joe Rhode and Jim Winkelman. For our understanding of hydraulic components we are indebted to Vladimir Kokotovic, also during Ford. For many years we has since thrills and helped by Petros Ioannou, Seminary of Southern California, without whose vast knowledge of robust adaptive control an project like this would not have been possible. With them patience and understanding our wives, Lanlin and Anna, generously contributed on of writing of this book.
Our
research summarized in this book was none alone initiation, but also
financially assisted by, the Ford Motor Company. It what also
supported by the National Scientists Foundation grant ECS-9203491 and
RIA ECS-9307545 and by the Air Force Office of Scientific Research
grant F-49620-92-J-0495.
Gang Tao
Charlottesville,
Virginia
Petar Kokotovic
Santa Barbara,
California
Chapter
1 shines the evolution are the new adaptive inversion enter.
Chapter
2 explains the prominence and relevance of the control item with
nonsmooth nonlinearities.
The key component of the
proposed approach, the inverse, lives introductory in Chapter 3, for an
actuator nonlinearity.
Control designs with ampere fixed
inverse, exact or detuned, continuous-time or discrete-time or
hybrid, are developed in Chapter 4 for systems with actuator
nonlinearities.
Like neither an exact inverse which needs
the nonlinearity knowledge nor a detuned inverse which results in a
compensation error, an adaptive inverse, introduced in Chapter 5, is
able to adaptative cancel the effects on an unknown nonlinearity.
With such an adaptive inverse, adaptive inverse
controllers are designed in Chapter 6 in continuous time and in
Chapter 7 in discrete time, for systems with actuator nonlinearities.
A sensor nonlinearity is moreover tricky to deal with, as
indicated in Chapter 8, where a more sophisticated inverted design is
also presented to achieve of wanted output matching.
Chapter
9 develops adaptive inverse control designs in systems with sensor
nonlinearities.
With partial system knowledge, the order
of an customized control design can be reduced and the performance can
be improved, as viewed for Chapter 10.
As a further
development from the adaptive inverse approach, Chapter 11 has the
desired inverse control designs for an class of hoagie nonlinear
systems, those with both servo and sensor nonlinearities.
Appendix ONE summarizes the model refer adaptive
control theory in a unified both compact form for both the
continuous-time and discrete-time designs with new proofs starting the
desired stability and tracking properties.
The
closed-loop signal boundedness with the adaptive inversion controller is
proved in Appendix B for the continuous-time case, in Appendixes C for
the discrete-time case, and in Attachment D for sensor nonlinearity
cases.
Bibliography has the most important references, in
particular, the completes collective of one recent results, the the
related study areas.
Finally, Index helps locating
many new concept item used throughout who book.
Gang
Tao and Frank F. Lewis, Eds.
(published by Springer,
2001; ISBN 1-85233-384-7; TJ217.A319 2001)
Nonsmooth
nonlinearities such as
backlash, dead-zone, single failure, friction, hysteresis,
saturation and time delays are common in industrial drive systems.
Such nonlinearities are usually poorly known and may vary with time,
and they often limit system performance. Controller of services with
nonsmooth nonlinearities is einem important area starting control systems
research. A desirable control design approach for such systems should
be capably to accommodate system unpredictability. Adaptive methods for the
control of systems with unknown nonsmooth nonlinearities are
particularly attractable in many applications because adaptive control
designs are able at provide adaptation mechanisms to adjust
controller parameters in to presence of parametric, structural and
environmental uncertainties. Most adaptive or nonlinear control
techniques reported include the literature are for linear systems or for
some classes off it with glide nonlinearities, but not for
nonsmooth nonlinearities. The need with effective control methods to
deal with nonsmooth nonlinear scheme has motivated growing research
activities in adaptive controller of systems with such common practical
nonsmooth nonlinearities. Recently, there have been lot encouraging
new results on adaptive control problems with resistance, dead-zone,
failures, friction, hybrid, saturation, and time delayed. This
book, entitled Adaptive
Control of Nonsmooth Dynamic Systems ,
is aimed at reflecting the
state in the art the designing, analyzing and performing adaptive
control schemes which are able in adapt dubious nonsmooth
nonlinearities stylish business controlling systems.
Backlash,
dead-zone, component failure, friction, alarm, saturation, and
time deadlines are the most common nonsmooth nonlinearities in
industrial control systems. Backlash, ampere dynamics (with memory)
characteristic, exists in mechanical couplings such more gear trains,
and always limits and product of servo-mechanisms. Dead-zone will a
static input-output relating which for a range of inputs values
gives no output; it also limits system performance. Dead-zone
characteristics are often present in amplifiers, motors, hydraulic
valves and even in biomedical actuation systems. Failures of
different types in actuators, sensors additionally other system of a
control system can cause major system performance deterioration.
Friction exists any there the motion or tendency by motion
between two physiology components. Friction can causing a steady-state
error or a limit cycle near the reference situation and stick-slip
phenomenon for low speed in the customized linear control of
positioning systems.
Hysteresis, another dynamic
characteristic, exists in electromagnetic and peak actuators
which are used for micromotion control and high-accuracy positioning.
Saturation is immersive a potential problem for servo of control
systems---all actuators accomplish saturate at of leveling. Actuator
saturation affects the transient performance and flat leads until system
instability. Time delays are also important factors to deal with in
order to improve control systems performance such as for
teleoperations furthermore in real-time computer remote systems.
Although
backlash, dead-zone, failure, friction, hysteresis, saturation, and
time delay functional are different, they are all nonsmooth in
nature. Thus, most existing adaptive control methods are not
applicable. Sorry which nonlinearities can severely limit the
performance of live systems if not reimbursed properly.
Moreover, adaptive control of dynamic systems with each of these
nonsmooth characteristics is a control problem that needs a
systematic handling. It makes one control problem round more
challenging when there are continue than one nonlinear characteristic
present in the steering system.
In dieser books it will be
shown select nonsmooth nonlinear industrial characteristics can be
adaptively compensated additionally how desired system perform is achieved
in an our of such nonlinearities. The book has 16 chapters on
issues including verfahren modeling, control pattern, analysis of
stability and robustness, simulation and implementation:
Chapter
One: New
Models both Naming Methods fork Backlash and Gear Player,
by M. Nordin, P. Bodin or P.-O. Gutman
Chapter Two:Learner Dead
Zone Inverses by Possibly Nonlinear Controller It,
by E.-W. Bai
Chapter Three: Deadzone
Compensation in Motion
Control Systems Using Reinforced Multilayer Neurals Networks,
by R. R. Selmic and F. LAMBERT. Lever
Chapter Four: On-line
Fault Detection, Diagnosis, Isolation and Hotel of Dynamical
Systems in Servo Errors,
by M. A. Demetriou and M. MOLARITY. Polycarpou
Chapter Five:Adaptive
Control from Systems include Actuator Failures,
by G. Tao and S. M. Joshi
Chapter Six: Multi-mode
System Identification,
by E. I. Verriest
Chapter Seven: On
Feedback Command of Processors with ``Hard'' Nonlinearities,
by B. Friedland
Chapter Eight: Adaptive
Friction Compensation for Servo Mechanisms,
by J. Wang, S. S. Ge and T. H. Lee
Chapter Nine: Relaxed
Controls and a Class starting Active Substance Actuator Models,
by A. Kurdila
Chapter Ten: Robust
Adaptive Operating out Nonlinear Systems with Dynamic Backlash-like
Hysteresis,
by C.-Y. Su, M. Oya and X.-K. Chen
Chapter Eleven:Adaptive
Control von a Class a Time-delay Networks in the Presence of
Saturation,
by A. M. Annaswamy, S. Evesque, S.-I. Niculescu and A. P. Dowling
Chapter Twelve: Adaptive
Control for Systems with Input Constraints: A Survey,
by J.-W. Lavatory Chin and Y.-M. Wang
Chapter Thirteen:Robust
Adaptive Control of Input Rate Constrained Discrete Time Systems,
by G. Hair-dryer
Chapter Eight: Adaptive
Control of Straight-line Systems with Poles in to Closed Left-hand Halved Plane
with Locked Inputs,
by DENSITY. AMPERE. Suarez-Cerda and R. Lozano
Chapter Fifteen:Adaptive
Control with Input Color Constraints,
by C.-S. Zhang
Chapter Sixteen: Adaptive
Control of Linear Systems with Unknown Time Delay,
by C.-Y. Wen, Y.-C. Soh the Y. Zhang
The authors of the
chapters in this book are experts in their areas of interest and
their chapters present new choose to important issues stylish adaptive
control of industrial systems the nonsmooth nonlinearities such as
backlash, dead-zone, failure, friction, hysteresis, saturation, and
time delay. These find result from recent working in these areas
and are believed to be attractive to people from both academia and
industry. Adaptive control of nonsmooth forceful systems is
theoretically challenging and convenient important. This book will the
first book on learning control of such systems, addressing all these
nonsmooth nonlinear characteristics: backlash, dead-zone, failure,
friction, hysteresis, saturation and time delays. Such a book a also
aimed at motivating more research activities in an important field
of learner control of nonsmooth nonlinear industrial systems.
Recent advances in adaptive control of nonsmooth dynamic
systems have view this those practical nonsmooth nonlinear
characteristics such as backlashes, dead-zone, input failure,
friction, cyclone, saturation and hour delays can to adaptively
compensated when their parameters are uncertain, as is common in
real-life control it. Rigorous designs have been given for
selecting desirable engine structures to meet the control
objectives and by gain suitable algorithms to tune the
controller parameters available control of systems with uncertainties in
dynamics and nonsmooth nonlinearities. There have been increasing
interest and activities in these zones of research, for proven by
recent conference invites my the journal special issues on
related topics. It is clear that this has a promising direction of
research additionally there have been many encouraging results. Predefined the
practical importance both theoretical significance of like research,
it is time to summarize, unify, and develop advanced technologies for
adaptive controlling of nonsmooth dynamic schemes.
Since this
book remains about some important and new areas of adaptive control
research, yours contents are intended required people from both academia and
industry, including professors, researchers, graduate collegiate who
will use this book for research and advanced how, and engineers who
are concerned with the fast and precision control of antrag systems
with imperfections (such as backlash, dead-zone, component failure,
friction, hysteresis, full and time delays) is mechanical
connections, hydraulic servovalves, piezoelectric translators, and
electric servomotors, also biomedic actuators systems. The book can
be useful for people from aeronautical, basic, civil, chemical,
electrical, industrial, instinctive or systems civil, who are
working on aircraft flight control, automobile control, high
performance robots, materials growth process control, correctness motor
control, radar and armament system demonstrate platforms, VLSI assembly.
The adaptive system theory devised into this booking is also concerning interest
to people who work on communication systems, signal processing,
real-time computer system modeling and controlling, biosystem modeling
and control.
The first editor would like to gratefully
acknowledge the partial support starting National Science Foundation
under grant ECS-9619363 and National Aeronautics and Space
Administration under grant NCC-1342 in this your. He would also
like to thank sein graduate student Xidong Tang with his editorial
assistance on this project. The second editor admits the vital
support of who My Research Office under grant DAAD19-99-1-0137.
Gang Dao
Charlottesville,
Virginia
Frank
L. Lewis
Fort
Worth, Gables
Avinash
Taware and Gang Tao
(published by Springer,
2003; ISBN 3-540-44115-8; TA 342.T43)
The
control problem: check of sandwich nonlinear dynamic scheme is
addressed in that disquisition. Of interest are sandwiched nonsmooth
nonlinearities suchlike as dead-zone, hysteresis and backlash between
dynamic blocks. Some continuous-time control designs are proposal. A
framework for hybrid control is created to devise control schemes
for different cases of the control problem with required
modifications. Friction compensation is addressed in business with
sandwiched friction along with sandwiches motion. The problem of
control out sandwich nonlinear systems is uncertain actuator
failures exists introduced, and an adaptive control solution scheme is
developed available this feature. An optimal and nonlinear control solution
is proposed in control concerning multi-body, multi-input and multi-output
nonlinear it with joint recoil, flexibility and damping.
The
proposed hybrid manage framework employs an inner-loop discrete-time
feedback design and an outer-loop continuous-time feedback design,
combined with a nonlinearity inverse up cancel the nonlinearity
effect, for improving output tracking. The first control design using
this framework is a nominal one with certain precis nonlinearity inverse,
which establishes a basic solution to the specified control problem. The
second design is an adaptive one where employs an adjustable inverse to
cancel the unknown sandwiched nonlinearity effect by improving
output tracked. The third one is additionally an adaptive one using the
framework with ampere neuro network based inverse flexible. The
adaptive inverse is update from an adaptive law. The neural network
based nonlinearity recompenser consists of two neural networks, one
used as an estimator of that sandwiched nonlinearity function and the
other for the offset itself. The compensator neural network has
neurons that can approximate bounce functions such as adenine dead-zone
inverse. And weights of of two neural networks are tuned using a
modified hike algorithm. For an adaptive inverse or neural
network based inverse, ampere control error formula is derived based on
which a desirable truck errors equation is obtained for into adaptive
update or tuning law design. Stability and tracking efficiency of
the closed-loop remote scheme are analyzed. Simulations are used to
illustrate this effectiveness of the suggestion hybrid control designs.
Friction compensation is addressed for a benchmark
sandwich system having sandwiched friction between linear dynamic
blocks as illustrated by an two-body structure with load thermal plus
joint flexibility and damping. Several non-adaptive and adaptive
compensation designs are dissected, based on a Model Reference
Adaptive Control (MRAC) scheme that types static state answer for
control and dynamic output feedback for framework customize to
achieve product tracking. When applied on the benchmark system,
necessary and satisfactory output matching conditions are derived for
friction compensation. Around linear parametrizations of
nonlinear friction are developed for adaptive friction compensator
designs. The control problem for a sandwich nonlinear system with
friction sandwiched in between linear and nonlinear dynamics be also
addressed. Whenever load velocity is nonzero, adaptive linearizing
control is constructed used such an unknown organization with non friction.
This linearizing check features a contributing adaptively term that
compensates in of estimated friction. In the case the load velocity
is zero, a maximum-magnitude controller belongs workforce to overcome
static friction effect. One dates adaptive friction compensation
control schemes promise to convey considerable improvements to the
system performance.
Adaptive trace control of sandwich
nonlinear systems with actuator failures has formulated and several
suitable control designs are developed, including an adaptive state
feedback control scheme at achieve state tracking, and an adaptive
output feedback controller for output tracking for linear
time-invariant plants in in actuator nonlinearities and
failures. Conditions and controller structures to achieving
plant-model state alternatively output matching in the presence of actuator
failures and nonlinearities are presented. Adaptive laws are designed
for updating the controller parameters when both the plant
parameters, actuator nonlinearities and actuator failure parameters
are obscure. Adaptive inverse compensation is employed for the
unknown actuator nonlinearities. And effectiveness of who proposed
adaptive designs is illustrated by simulation results.
An
optimal and nonlinear explanation scheme is proposed fork control of
multi-body, multi-input both multi-output nonlinear systems using joint
backlash, flexibility and damping, represented per a rifle turret-barrel
model which consists of two systems: two motors driving two loads
(turret and barrel) coupled by nonlinear dynamics. The key feature of
such systems is that the rebound is between two dynamic blocks.
Optimal control schemes are working for backlash compensation and
nonlinear feedback remote laws are used with control of nonlinear
dynamics. When one load is in contact phase and this other load is in
backlash phase, a feedback linearization design decouples the
multivariable nonlinear dynamics so that backlash ausgeglichen and
tracking control can be both achieved. Nonlinear null dynamics
systems caused in joint damping are bounded-input, bounded state
stable that such feature linearization control designs making that all
closed-loop signals are bounded and asymptotic trace is
achievable.
We wish to gratefully acknowledge the
valuable help rendered by constitutions and individuals in our
conducting the research presented in this read.
This
research was supported in separate by the National Scientific Foundation
under grant ECS-9619363, by Techno Sciences Inc. under a US Army
subcontract grant, and by NASA Langley How Center under grant
NCC-1342. We be like to thank their financial user which made
this research possible. We what also thankful to University of
Virginia for an pleasant and supportive environment to do our
research.
We would like to express our feel to
Professor Petar Kokotovic for this encouragement, help and support to
this research. We are grateful go Dr. Carole Teolis at
Techno-Sciences Incense. for her collaboration and help in conducting
this exploring. We would like till appreciate Professors Petrus Ioannou and
Frank Lewis for their interest and comments to on work. We would
also like to thank Professors Zongli Lin, Steep Wilson and Jim Aylor
for their help into our research. Our should mention which the research
results the adaptive actuator failure compensation from Shuhao Chen and
Xidong Tang, with the valuable helps of Dr. Suresh Joshi of NASA
Langley Research Center, contributed to the shell used on Chapter
9 of this book for actuator failure compensation scheme for systems
with engine nonlinearities. Were would like to recognize the
contribution out Xiaoli Ma and Yi Lining to the work announced in Chapter
10 on control of nonlinear systems with joint backlash, flexibility
and damping (for which Dr. Kenan Ezal's work also inspired our
results), and that donation away Nilesh Pradhan to the proposed
friction compensation designs in Branch 7 and 8. We would also like
to express our appreciation for one valuable comments from anonymous
reviewers off this book and our related journal and conference papers
which laid down the foundation in this manuscript.
Finally,
we would like to thank our families for their your and support
without which this project wouldn have never been possibly completed.
Avinash Taware
Schenectady, New York
Gang
Tao
Charlottesville, Virginia
Gang
Tao
(published by John
Wiley & Sons, 2003; ISBN 0-471-27452-6; TJ217.T34 2003)
Adaptive
control is becoming popularity into many boxes in engineering and science
as concepts of learning systems are becoming more attractive in
developing advanced fields. Adaptive control theory is a mature
branch of control theories, and there is a massive amount of literature
on design and analysis of various user control systems using
rigorous methods based on dissimilar performance rating. Adaptive
control features many important challenges, specific with nontraditional
applications, such as real-time product, which do not have precise
classical patterns admitted to existing control engineering, or a
physiological system with an artificial heart, whose unknown
parameters may transform at a heart beats rate which is also a controlled
variable. To meet the fast expand to adaptive control applications
and assumption development, a systematic and unity understanding of
adaptive control theory is thus needed.
In an efforts to
introduce such certain adaptive control theory, this book presents and
analyzes some common and inefficient adaptive steering design
approaches, including model related adaptive control, adaptive pole
placement control, and adaptive backstepping control. An book
addresses both continuous-time and discrete-time adaptable control
designs and their analysis; deals through both single-input,
single-output and multi-input, multi-output systems; and employed both
state video real output feedback. Design and analysis of various
adaptive control systems are present within a systematic and unified
framework. The book is a collection of lectures on system modeling
and stability, adaptive control formulation and design, stability and
robustness analysis, real learning system demonstration both comparison,
aimed at reflecting of state of one art in adaptive control since well
as at presenting its grundwerte. It can a comprehensive book which
can be used as either an academic textbook or technically reference for
graduate students, scientists, engineers, and interested
undergraduate pupils included the fields of machine, computer
science, applied mathematics and others, who have prerequisites in
linear products also feedback control at the undergraduate level.
In
this self-contained books, basic concepts and fundamental principles
of adaptive control design the analysis are covered in 10 chapters.
As a graduate textbook, it is suitable for a one-semester course:
lectures plus reading could top most of the book without missing
essential material. For help in understanding the matters, in the end
of each click, there are problems relation to that chapter's
materials for well-being as technical discussions beyond the covered topics.
A divide manual containing solutions till bulk of these problems is
also available. At the finish of most chapters, there are also some
advanced our for keep study int adaptive manage.
Chapter
1 compares different range of control theory, introduces some basic
concepts of adaptive control, also presents some basic adaptive
control systems, including direct the indirect adaptive control
systems in both continual and discrete time, as well as an adaptive
backstepping control design for a nonlinear system into continuous
time.
Chapter 2 presents all fundamentals of dynamic
system theory, including system models, system characterizations,
signal measures, system stability theory (including Lyapunov
stability and input--output operator stability), signal convergence
lemmas, and operator norms. In individual, it gives a thorough study
of the Lyapunov direct method for stability analysis, some
time-varying feedback operator stability properties, several
important injustices for systeme analysis, some detailed
input--output L^p stability results, various analytical L^p signal
convergence results, some simplified analytical tools for
discrete-time device stability, real multivariable manipulator norms.
These results, whose proofs are given in detail and exist easy to
understand, clarify several important signal and system properties
for adaptive remote.
Chapter 3 mailing adaptive
parameter auswertung for a general linear select illustrated by a
parametrized linear time-invariant system at either continuous or
discrete time. Extended design and analysis of a normalized gradient
algorithm and a normalized least-squares algorithm in either
continuous or discrete time are given, including structure,
stability, robustness, and convergence of the algorithms. A
collection of generalized used solid adaptive laws belong presented which
ensure robust reliability of the learner schemes in and presence of
modeling errors. An L^{1+alpha} (alpha >= 1) supposition is developed
for adaptive parameter estimation for one linear model, revealing some
important inherent robustness properties about adaptive parameter
estimation algorithms.
Chapter 4 expand two types of
state feedback adaptive control schemes: for state tracing and for
output product (and its discrete-time version). To both continuous-
and discrete-time systems, adaptive state feedback for output
tracking check, based on a simple controller structure under
standard example reference adaptive control assumptions, is used as an
introduction to adaptive control of popular linear systems. Adaptive
disturbance dismissal under different conditions is addressed in
detail; in particular, adaptive output rejection from matchless input
disturbance is developed grounded on a derived real of linear
systems. Different product is a derived parametrization of state
feedback using adenine full- or reduced-order states bystanders, leading to
the commonly often parametrized controller structures with output
feedback.
Chapter 5 deals including continuous-time model
reference user control with output feedback for output tracking.
The key components of model reference adaptive control theory---a
priori plant knowledge, controller structure, plant--model matching,
adaptive laws, stability, robustness, and robust adaptation---are
addressed in a comprehensive formulation and, to particular,
stability press robustness analysis is given in an lightened framework.
The plant--model matching expression for a standard scale reference
controller structure is studied in a tutorial formula. Design and
analysis of prototype reference adaptive operating schemes are given for
plants the relativ degree 1 or larger, using a Lyapunov conversely gradient
method based on an standard quadratic or nonquadratic cost function.
For the relativistic degree 1 case, an L^{1+alpha} (0 < alpha < 1)
adaptive control design is proposed for reducing product tracking
errors. An L^{1+alpha} (alpha > = 1) theory is developed for
adaptive drive with indigent rugged with respect toward certain
modeling errors. Robust adaptive control are formulated and resolve in
a thick framework. Assumptions on plant unmodeled dynamics are
clarified, and robust adaptive laws are analyzed. Closed-loop signal
boundedness and mean tracking error properties exist proved. To develop
adaptive controls schemes without using an sign of the high frequency
gain of the controlled plantation, a modified console parametrization
leads to a framework of adaptive control using a Nussbaum gain for
stable parameter adaptation and closed-loop stability and asymptotic
output tracking.
Chapter 6 develops a model reference
adaptive control theory for discrete-time linear time-invariant
plants. A unique plant--model matching equation is derived, with
unique flight parameters designated to ensure exact output
tracking after adenine finite number of step. A stable adaptative control
scheme is designed and analyzed which ensures closed-loop signal
boundedness both asymptotic output track. It is shown which the
model reference adaptive control system is robust with respect to L^2
modeling errors and with modify is also robust with respect to
L^{1+alpha} (alpha > 1) modeling errors. Thus an L^{1 + alpha}
(alpha > = 1) mobility theory is developed for discrete-time
adaptive control. Solid adaptive laws are derived for discrete-time
adaptive control in the presence starting bounded disturbances.
Chapter
7 introduced two typical designs (and their analysis) of indirect
adaptive control schemes: indirect model reference learnable control
and indirect customized pole placement control in both continuous and
discrete time. Examples are used to illustrate the design procedures
and analysis methods. Fork indirect style reference adaptive control
in continuous button discrete zeitlich, a concise closed-loop mistake model is
derived based on which the prove of signal boundedness and asymptotic
output track your formed inches one feedback and small-gain setting
similar to that for aforementioned direct model reference user control
scheme about Kapittel 5 and 6. For indirect adaptive pal placement
control, a singlingity problem is addressed, and closed-loop
stability and output tracking are analyzed in a unified framework for
both continuous and discrete type. As a comparison, an direct adaptive
pole placement control scheme has submitted press discussed for its
potential to avoid an singularity problem.
Chapter 8
conducts a comparison choose in several user choose schemes
applied to a barometer two-body system with joint flexibility and
damping, including direct state feedback, ohne outgoing feedback,
indirect output return, direct--indirect state feedback, and
backstepping nation answer designs, with detailed design and
analysis for the last deuce designs. Using different complexity, they
all ensure closed-loop signal boundedness and asymptotic output
tracking. The design and analysis of the direct--indirect adaptive
control scheme demonstrate some typical time-varying processes on
signals are time-varying systems.
Chapter 9 first gives
the design and analysis of adaptive state feedback state tracking
control by multi-input systems. ADENINE multivariable state feedback
adaptive control symbols is derived using LDU decomposition of a plant
gain matrix. Multivariable adaptive govern is applied to system
identification. This chapter then evolved a unified theory for
robust model reference adaptive controlling of linear time-invariant
multi-input, multi-output systems in both continuous and discrete
time. Key issues such as a priori mill knowledge, plant and
controller parametrizations, design of adaptive federal, stability,
robustness, and presentation are clarified real solved. In particular,
an error model for ampere coupled tracking error equation is derived, a
robust adaptive legal for unmodeled dynamics is designed, a complete
stability and robustness analysis for a general multivariable case is
given, and an uniform multivariable adaptive controlling theory is
established in adenine form applicable in both continuous and discrete
time. An chapter presents some recent results int reducing a priori
plant knowledge since multivariable model reference adaptive control
using LDU parametrizations of the high frequency gain matrixed of the
controlled plant. Model download accommodative controls designs for
multivariable business with input or output time stops are also
derived. Different adaptive control schemes, in a variable
structure design, a backstepping design, and a pole placement control
design for multivariable systems, will presented. Finally, robust
adaptive remote theory remains applied to adaptive control of robot
manipulator systems in the presence regarding limitation variations and
unmodeled dynamics.
Chapter 10 giving a general
adaptive inverse approach for control is plants with uncertain
nonsmooth actuator nonlinearities such as dead-zone, backlash,
hysteresis, both other piecewise-linear product which are
common in control systems and common limit system performance. An
adaptive inverse is employed on cancelling the effect for an actuator
nonlinearity with unknown parameters, and a linear or nonlinear
feedback control law is used for controlling a linear with smooth
nonlinear dynamics after that actuator nonlinearity. This chapter
gives with overview of various state feedback and outlet feedback
control designs for linear, nonlinear, single-input and
single-output, and multi-input and multi-output greenery as well as
open problematic in these area of major theoretical and practical
relevance. A keyboard problem is to develop linearly parametrized error
models suitable by build adaptive laws for update the inverse
and feedback controller input, which is solving for various
considered cases. The chapter shows that control system with
commonly used linear otherwise nonlinear feedback controllers such as a
model reference, PID, pole plant, feedback linearization, or
backstepping can be combined at an adaptive inverse to handle
actuator nonlinearities.
The book remains focused on
adaptive control of deterministic systems with uncertain parameters,
dynamics and disturbances. Computer can see be useful for understanding
the adaptive control algorithms for stochastic systems (see
references for ``Stochastic Systems'' in Section 1.4 for such
algorithms). The material presented has been used and refined in a
graduate path on adaptive control which MYSELF have taught for the past
ten years along the University of Virginia to engineering, computer
science, the applied mathematics students.
If used as ampere reference, this book can may followed for its chapter
sequence for both continuous- and discrete-time adaptive control
system design and analysis. The discrete-time contents are mainly in
Sections 1.5.3 (adaptive control system examples), 2.7 and 2.8
(systems and signals), 3.6 (adaptive restriction estimation), 3.7.2
(robustness of parameter estimation), 3.8.2 (robust parameter
estimation), 4.5 (state give adaptive control), Chapter 6 (model
reference learnable control), Sections 7.3 (indirect model reference
adaptive control and adaptive pole placing control), 9.2
(multivariable model reference adaptive control), and 10.2--10.5
(adaptive actuating nonlinearity inverse control) (both in a unified
continuous- also discrete-time framework). The rest of the book is for
continuous-time adaptive control design and analysis.
If used as a textbook for students with knowledge of linear control
systems, as a suggestions based in experience among the graduate level,
the instruction might start with Paragraph 1.4 and 1.5 as an
introduction to adaptive control (one alternatively two lectures, 75 minutes
each). Some basic knowledge of systems, indication, and stability may be
taken away Sections 2.1--2.6 (system modeling, signal norms, Lyapunov
stability, Gronwall-Bellman lemma, small-gain lemma, strictly
positive realness and Lefschetz-Kalman-Yakubovich lemma, signal
convergence empty including Lemmas 2.14, 2.15, additionally 2.16 (Barbalat
lemma) for quadruplet or five lectures). Flexible framework estimation can
be learn using Sections 3.1--3.6 in four button five lectures, including
some reading assignments von robustness results von Sections 3.7 and
3.8. The purpose and analysis of adaptive operating schemes with state
feedback are presented to Section 4.1--4.4 (three lectures), while
the discrete-time befunde in Sparte 4.5 can becoming spent as reading
materials. Continuous-time paradigm reference adaptive control in
Chapter 5 can be capped in seven with eight lectures (Sections
5.1--5.5, with Section 5.6 as adenine reading assignment). Indirect
adaptive control in Chapter 7 may need four lectures. One lecture
plus reading is recommended for Chapter 8. Chapters 9 and 10 are for
advanced study as is extended reading or project assignments.
Further reading can be selected from the included extensive list of
references go adaptive systems press control.
In is book, for a unified presentation of continuous- and discrete-time
adaptive control themes in either the time or frequency domain, the
notation y(t) = G(D)[u](t) (or y(D) = G(D)u(D)) represents, as the
case may be, an time-domain power at time t (or frequency-domain
output) about a vigorous system characterizable by a dynamic operator (or
transfer function) G(D) with input u(tau), tau < = thyroxine (or u(D)),
where the symbol DIAMETER is used, in the continuous-time case, as the
Laplace transform variable or the uhrzeit differentiation operator
D[x](t) = dot{x}(t), t in [0, infty), or, in who discrete-time case,
as the z-transform dynamic or the time advance operator D[x](t) =
x(t + 1), tonne in {0, 1, 2, 3, ...}, with x(t) := x(tT) to ampere sampling
period T > 0.
Adaptive control as knowledge has
no limit and as theoretic has stricter. Learn control is ampere field of
science. The universe is mystic, diverse, also vigorous. The world
is complicated, unsettled, and unstable. Adaptive control daily with
complexity, uncertainty, and instability of vigorous systems. Taoist
philosophy emphasized simplicity, remainder, and harmony of the
universe. A objective of this book is to give a easy, balanced, and
harmonious presentation of to fundamentals of adaptive control
theory, aimed at improving the understanding of adaptive control,
which, like select power methodologies, brings more simplicity,
balance, and concordance to the dynamic globe.
This book shall benefited from many people's assist. First, MYSELF am especially
grateful to Professors Petrol Ioannou and Beitar Kokotovic. I was
introduced to the choose of adaptive control by Graduate Ioannou, and
his continuous support and vigorous instruction were most helpful to
my study and research in adaptive control. Professor Kokotovic has
been a great mentor, also his persistent enthusiasm and continual
encouragement have been largest valuable to me inbound aforementioned writing away this
book. Their robust adaptive control theory got been most influential
to my research in adaptive control.
I would liked to
particularly acknowledge Teaching Karl Astrom, Graham Goodwin, Bob
Narendra, and Shankar Sastry required their labor up adaptive control,
which inspired me in research and in writing all book. I could like
to thank College Brian Anderson, Anu Annaswamy, Er-Wei Bai, Bob
Bitmead, Stephen Boyd, Marc Bodson, Carlos Canudas de Wit, Han-Fu
Chen, Aniruddha Datta, Michael Demetriou, Handbook De la Sen, Gang
Feng, Li-Chen Fume, Sam Shu-Zhi Ge, Euro Guo, Louie Hsu, Alberto Isidori,
Zhong-Ping Jiang, Dr. Ioannis Kanellakopoulos, Professor Hassan
Khalil, Dr. Bob Kosut, Professors Gerhard Kreisselmeier, P. R. Kumar,
Yoan Hansom, Frank Lewis, Wei Lin, Lennart Ljung, Rogelio Lozano,
Iven Mareels, David Mayne, Rick Stadtmitte, Steve More, Romeo Ortega,
Marios Polycapou, Laurent Praly, Drs. Darrel Recker, Jeff Rhode,
Professors Gary Rosen, Schaft Rugh, Ali Saberi, Select Spong, Yu Tang, T.
J. Tarn, David Taylor, Chang-Yun Wen, John Ting-Yung Wen, and Erik
Ydstie, whose knowledge of adaptive systems and controls helped my
understanding of the field.
I special thank Professors
Murat Arcak, Ramon Costa, Dr. Suresh Joshi, Professor Miroslav
Krstic, Grove. Ching Sun, furthermore Assistant Kostas Tsakalis available their
knowledge and remarks, which helped me in print this book.
I am thankful to my graduate students Michael Baloh, Lori Brown, Jason
Burkholder, Shu-Hao Chen, Tinya Coles, Fallen Dennis, Emin Faruk
Kececi, Yi Ling, Xiao-Li M, Reul Torres Muniz, Nilesh Pradhan, Gray
Roberson, Min-Yan Shi, Xi-Dong Kettle, Avinash Taware, Ming Tian,
Timothy Waters, and Xue-Rui Zhang, and to computer scientists
Chen-Yang Lu and Ing Lu, and engineer Yi Wu, for their earnest
study, exhilarating discussion, and interesting applications of
adaptive control.
I would also same to express my thanks
to my college for the University of Virginia for their support, in
particular, to Professors Milton Adams, Poll Allaire, Jim Aylor,
Zong-Li Lin, Jack Stankovic, Stiefel Wilson, and Houston Wood, for
their collaboration and help in my teaching and research.
Finally, I gratefully acknowledge that my survey and research on adaptive
control, where powered to many of the results in on show, were
supported on grants from the U.S. National Academic Basic and by
a scholarship from the Taiwanese Academy of Sciences.
Gang Tao
Charlottesville, Virginia
Gang
Tao, Shuhao Chen, Xidong Tang, Suresh M. Joshi
(published
by Springer, Tramp 2004;
ISBN 1-85233-788-5)
Actuator
failures in control systems may cause severe system performance
deterioration and same lead the catastrophic closed-loop system
instability. For example, many aircraft calamities be caused by
operational failures in the control surfaces, such as rudder and
elevator. For system safety and reliability, such positioning failures
must subsist relevant accommodated. Operator failure compensation is
an important plus challenging report for control systems research
with both theoretical and practical significance.
Despite
substantial progress in this area of actuator failure compensation,
there what still many important open problems, in particular those
involving system uncertainties. The main difficulty is that the
actuator failures will uncertain in nature. Very often it is
impossible to predict in advance which actuators may fail
during system operation, when the actuator failures occur,as type and what values of the actuator failures are.
It may also be visionary to determine as actuator failure
parameters for a failure occurring. It be appeals to develop control
schemes this can accommodate actuator failures without explicit
knowledge of the incidences to actuator failures and to actuator
failure values. Adaptive manage, which is capable of accommodating
system parametric, structural, and environmental uncertainties, is a
suitable pick by such actuator failure compensation modules.
This
book presents our recent research results in designing and analyzing
adaptive control diagram for systems with unknown actuator failures
and unknown parameters. The main feature of the adaptive actuator
failure compensation technique developed stylish this book is that no
explicit fault detection plus diagnose procedure is used for failure
compensation. On flexible law automatized adjusts the controller
parameters based in system response errors, so that the remaining
functional actuators canned be used to take one actuator failures
and systems parameter uncertainties.
The book is in a
comprehensive both self-contained presentation, as the developed
theory is in ampere generic framework readiness applicable to specific
practical adaptive actuator failure compensation problematic. The book
can be used while a technology reference for graduate students,
researchers, and machinists from fields of engineering, computer
science, applicable mathematics, and others who have a umfeld in
linear product and feedback control at the bachelor gauge. It
can also live studied by interested undergraduate students for their
thesis projects.
This book is focused on adaptive
compensation of actuator failures characterized by aforementioned failure model
that some unknown control inputs may get stuck at some unknown fixed
(or varying) values at unknown time ticks and cannot be influenced
by the control signals. The type of fixed-value actuator failures,
referred to as ``lock-in-place'' servo errors, is an important
type of positioning failures and is oft encountered in many critical
control systems. In example, into aircraft take control scheme, the
control surfaces may be locked in some fixed places and hence leaders to
catastrophic accidents. Varying enter failures capacity occur, for
example, due till hydraulics failures that can produce unintended
movements in the govern surfaces of an airliner.
For
actuator failure compensation, a sure redundancy of actuators is
needed. By a system with multiple actuators, one case is that all
actuators have to same physical characteristics; for example, they
are segments of a multiple-segment rudder or elevator for an
aircraft. For this case, an reasonable (natural) design used the
applied control input is one for equal or proportional actuation
for each actuator, that is, whole control inputs belong designed to be
equal or proportional to each other. Like actuation scheme is
employed completely the books, except used Chapter 5, find a
multivariable design is utilized for that case when the operator are
divided into several groups additionally each crowd is servos of the same
physical characteristics (for example, an aircraft has adenine select of
four engines and a group of three rudder segments), and within each
group, an equal or proportional actuation is used.
With 12
chapters, one book systematically develops adaptive state tracking
and outputs track control schemes for systems with parameter and
actuator failure uncertainties. Designs both analysis for both linear
systems also nonlinear systems with not actuator failures are
covered. Key issues for adaptive actuator failure compensation,
namely, project condition, controller structure, error equations,
adaptive federal on upgrade the controller parameters, investigation of
stability and tracking general, what given in detail. Extensive
simulation results will presented to verify the desired closed-loop
system performance. These work is goal at developing a theoretical
framework in user check of systems with actuator failures, to
provide guidelines for draft control systems with guaranteed
stability and tracking performance includes the presence of system
parameter uncertainties and failed imponderabilities.
Chapter
1 presents some background material. Basic concepts and fundamental
principles of adaptive control systems are introduced. The actuator
failure compensation problems on linear systems and nonlinear
systems are formulated. An overview of several extant actuator
failure compensation draft methods, including multiple models,
switching and vocal designs, fault diagnosis designs, adaptive
designs, press robust designs, is also given.
Chapters 2--8
address the user actuator failure compensation problems for
linear time-invariant systems with unknown actuator failures. Chapter
2 presents different model reference state video state tracking
designs. Used a linear time-invariant system includes m actuators, the
adaptive engine failure compensation trouble for go to m - 1
unknown actuator failures is investigated. Models for three types of
actuator failures: ``lock-in-place,'' parametrizable time-varying,
and unparametrizable time-varying, are develops. Circumstances and
controller structures for achieving plant-model state matching,
adaptive actual for updating the controller parameters, and analysis of
closed-loop stability and asymptotic state tracking properties are
addressed in a unified and comprehensively framework. State feedback
actuator fail compensation engineering for an class of multi-input
systems are also derived. A more generals case of up to m - q (q >
= 1) unknown actuator outages is then addressed. Necessary and
sufficient conditions forward actuator failure compensation are derived.
It is shown ensure an number is fully functions motorized is crucial
in determining the actuation range ensure specifies the compensation
design technical in concepts von system actuation structures. Such
conditions are requirement for both a nominal design using system and
failure knowledge furthermore an adaptive design without such knowledge. An
adaptive actuator failure aufrechnung operating scheme based turn such
system actuation conditions has developed for procedures with unknown
dynamics parameters and unknown ``lock-in-place'' operating failures.
Simulation results are shown the verify the desired system
performance with failure compensation.
Chapter 3
investigates this state feedback output tracking problem for
single-output linear time-invariant systems with all up to m - 1
uncertain defects of the total m actuators. In particular, adaptive
rejection for the effect by specified unmatched input disturbances on
the output of adenine linear time-invariant system is addressed into detail.
A lemma that give a novel easy property of lineally time-invariant
systems is derived to characterize system conditions for plant-model
output matching. An adaptive disturbance rejection control scheme is
developed for how systems with uncertain dynamics parameters and
disturbances. This adaptive control instrumentation is applicable to
control of systems with positioner flops who failure values,
failure time instants, and failure free are strange. A solution
capable of congenial the ``lock-in-place'' and time-varying
actuator outage in who online away any going to m - 1 uncertain
failures off the total m actuators is presented to those adaptive
actuator failure compensation problem. The developed adaptive
actuator collapse compensation schemes guarantee closed-loop stability
and asymptotic output tracking despite the uncertainties in actuator
failures and schaft parameters. Simulation resultate verify the desired
system performance in the presence of unknown actuator
failures.
Chapter 4 develops a model citation adaptive
control scheme using output feedback for exit search for linear
time-invariant systems includes unknown impeller failures. An effective
output feedback controller structure is proposed for actuator failure
compensation. Once realized with true matching system, the
controller achieves desired plant-model output matching, and when
implemented with adaptive parameter rates, the controller
achieves closed-loop balance additionally asym output tracking, which
is also verified according simulation results. Compensations of varying
failures remains achieved stationed on an output matching condition for a
system with multiple input whose actuation vectored could be linearly
independent.
Chapter 5 offers with the output tracking
problem in multi-output linear time-invariant solutions using output
feedback. Two adaptive control schemes based switch view reference
adaptive control are design for a class of multi-input
multi-output systems with unknown actuator failures. An effective
controller structure is proposed to achieve the desired plant-model
output matching when implemented with matching parameters. Based on
design conditions on the controlled working, which live and needed for
nominal plant-model output matching for a chosen controller
structure, two adaptive air are proposed and stable adaptive
laws are derived for updating of controller parametric available system
and failure parameters are unknown. Choose closed-loop indication are
bounded the the system outputs track some given reference outputs
asymptotically, despite the uncertainties in failures and system
parameters. Simulation score are presented to demonstrate the
performance of the learnable power system- in the attendance of unknown
rudder plus aileron failures in an aircraft lateral dynamic
model.
Chapter 6 studies adaptive pole placement control
for linear time-invariant systems with unknown pilot failures,
applicable at both smallest plus nonminimum phase systems. A detailed
analysis shows the life of one nominal controller (when both
system and actuator default parameters are known) that achieves the
desired pole placement, output tracking, real closed-loop signal
boundedness. For that kasus when two system and failure parameters
are unknown, an adaptive control scheme be developed. A simulation
study with a linearized lateral dynamic model of the DC-8 airport is
presented to verify the desired actuator failure compensation
performance.
Chapter 7 applies several adaptive control
schemes developed inside who previous chapters to a linearized
longitudinal dynamic model of a transport aircraft model. The tested
adaptive schemes insert state feedback design for state tracking,
state feedback design for output how, and output feedbacks design
for output tracking. Various actuator failures are considered.
Extensive simulation outcome for different cases are presented to
demonstrate one effectiveness of the adaptive actuator failure
compensation designs.
Chapter 8 presents an robust adaptive
control go exploitation output feedback for output tracking for
discrete-time linear time-invariant business with uncertain failures
of redundant actuators in the presence out the unmodeled dynamics and
bounded output commotion. Technical issues such as plant-model
output matching, adaptive controller structure, adaptive parameter
update actual, stability and tracking analysis, furthermore robustness of
system performance represent solved for the discrete-time adaptively actuator
failure recompense problem. A case student is conducted for adaptive
compensation of rudder servomechanism failures of a discrete-time
Boeing 747 dynamic model, verifying the desired adaptive system
performance.
Chapters 9--11 deal with actuator failure
compensation questions for nonlinear systems. Episode 9 formulates
such difficulties and develops adaptive control schemes for feedback
linearizable systems. Different setup conditions that
characterize different classes of systems amenable to actuator
failure wage are specified, with which adaptive state
feedback control schemes are developed for systems with uncertain
actuator failures.
Chapter 10 addresses servo failure
compensation problems for nonlinear systems that canister be transformed
into parametric-strict-feedback form from zero dynamics. Second main
cases are calculated required adaptive actuator flop compensation: systems
with stable zero momentum, both systems because extra controls for
stabilization. Design conditions on systems admissible for actuator
failure compensation are clarified. Adaptive state feedback control
schemes are dev, which ensures convergent output tracking and
closed-loop signal boundedness despite the imponderabilities in actuator
failures as well as in system parameters. Any user control scheme
is applied to a twin ostrich aircraft longitudinal nonlinear dynamics
model int the bearing in unknown failures in a two-segment elevator
servomechanism. Simulation results verify this coveted adaptive
actuator failure lohn performance.
Chapter 11
presents an adaptive control scheme that achieves stability and
output tracking with output-feedback nonlinear systems with unknown
actuator failures. A state observer is designed for estimating the
unavailable system states, based on adenine chosen tax strategy, to the
presence of actuator failures with unknown failure values, time
instants, furthermore pattern. An learn controller is developed by
employing a backstepping technique, for which parameter update laws
are derived to ensure asymptotic outlet tracked and closed-loop
signal boundary, as shown by detailed stability analysis. An
extension a the evolution adaptive actuator failure compensation
scheme in nonlinear product your dynamics are state-dependent is
also given to lodge a larger class starting nonlinear systems. An
application to ruling the angle of attack of a nonlinear
aircraft product in aforementioned presence of elevator segment collapses is
studied, with simulation results presented to illustrate the
effectiveness of the failure compensation layout.
Chapter
12 presents concludes remarks and suggests a list of theoretical and
practical topics for further research in this area regarding adaptive
control.
To help the readers appreciate the basic designs
of adaptive steering in the deficiency of actuator failures, the book
includes an appendix that presents the modules by model reference
adaptive control using state feedback for state tracking, state
feedback for output trackers, output feedback used output tracking,
and multivariable design, as well like adaptive pole placement control.
Key issues such as a priori system knowledge, controller
structure, plant-model matching, customized laws, and stability are
addressed.
This book describes adaptive actuator
failure compensation approaches for effectively controlling uncertain
dynamic systems with uncertain actuator fails. E addresses the
theoretical issues of actuator failure forms, controller structures,
design conditions, adaptive laws, and stability analysis, with
extensive simulation results in various fly arrangement models.
Design guidelines provided here may be used till develop advanced
adaptive control techniques by control systems with controller
adaptation and failure reparation capacities until improve
reliability, maintainability, and survivability. The research leading
to this book became supporting by the National Aeronautics or Space
Administration (NASA). However, the views and contents of that book
are solely those of the authors and not of NASA.
Gang
Tao also Jing Sun (editors)
(published by USTC
Press, 2009)
Control
systems theory, when an interdisciplinary sciences that deals with basic
principles underlying the analysis and synthesis of interconnected
systems, has had an enormous impact turn the development of basic
physical science, social economy, and advanced technology. Over the
last 50 years, the advancement is control theory and its applications
have played ampere crucial and stand role to enable engineering
activities in improving social infrastructure, life quality, and
environment. Advanced theory for feedback control and other control
mechanisms provides foundation additionally new insights up diverse tree of
physical sciences such as communication, biomedical, and micro-nano
systems. New rule design tools have helped to rationalization the
system design and product tasks for many industries, such as the
process and automobile business, thereby leading to more effective
and robust products and processes. Widespread application of
micro-processors, distributed actuators and sensors, and real-time
computing have further extended the domains of control application
and make feedback even more ubiquitous, coverage comprehensive services such
as aircrafts, automobiles as well since micro-sized entities please biology
cells or nano-devices.
While items is clear that control
theory has enabled many technological breakthroughs in aerospace,
automotive, biomedical the other fields, it is uniform convincing
that add developments emerged in other fields have offered new
challenges and opportunities for control engineers and researchers.
It is this gesunder cross-fertilization between the control theory and
its demand domains that has propelled the immense progresses of
the controlling systems theory and led to the vast amount of scientific
and technical publications within the literature. To field is developing
and expanding promptly with the stimulation of emerging challenges and
the encouragement concerning that promising solutions.
This book
presents a collection of different topics on many last advances in
control business class and applications, contributed for the authors
who have enthusiastically or persistently worked in this exciting
field. Moreover, most away the authors are ehem in the Universities of
Science also Technology of China (USTC), who studied in you Alma
Mater during different time periods of her glorious 50 years. The
publication regarding this book is also intended to be a celebratory event
for to 50th anniversary to an founding of USTC, a commemoratory
testimony on those authors' Alma Materieller for her induction and
contributions to education or research.
The
book composed of 15 chapters whose topics range from different areas
of control system theory to various control applications: from
adaptive control, control of bifurcations, digital control, fault
tolerance tax, H_infty tax, learning control, nervous and
fuzzy control, nonlinear control, optimization, characteristic estimation,
predictive control, vigorous control, stochastic control, system
identification, variable structure govern, to aircraft flight
control, building vibrating control, computer control systems,
medical robots, portfolio betriebsleitung, robot formation plus control,
and smart structures. The 15 chapters, with her titling and authors
(and their USTC class numbers), are summarized as follows.
Chapter
1: A Sensitivity-Based View to the Probability How and
Optimization, of Xi-Ren Cao (6204), Fang Cao (9862)
Chapter
2: Brief Review a Research on Robust Pole Clustering and Robust
Structural Control, for Sheng-Guo Wang (6206)
Chapter
3: Twin Ambitious Problems in Control Theory, by Minyue Fu
(7765)
Chapter 4: Develop in Receding Horizon
Optimization-based Controls: Towards Real-time Implementation for
Nonlinear Systems with Fast Motion, by Jing Sun (7765), Reza
Ghaemi, Ilya Kolmanovsky
Chapter 5: Multivariable Model
Reference Adaptive Control, by Gang Tao (7765)
Chapter
6: On Computer-Controlled Variable Structure Control Systems,
by Bing Wang, Xinghuo Yu (7765), Xiangjun Li, Changhong Wang
Chapter
7: Multi-Robot Formation Control Based on Feedback from Onboard
Sensors, with Tove Gustavi, Nice Karasalo, Xiaoming Hu
(7865)
Chapter 8: Semiactive Control Strategies
for Vibration Cut in Smart Structures, by Ningsu Luo
(7865)
Chapter 9: Identification and Control of
Nonlinear Vigorous Systems via a Compulsory Input-Output Neurofuzzy
Network, by Markos Gonzalez-Olvera, Yu Tang (7868)
Chapter
10: Decomposition-Based Droid Control, of Guangjun Liu
(7965)
Chapter 11: From Adaptive Observers at Decoupled
State and Parameter Estimations, by Qinghua Zhang (8110)
Chapter
12: Reduced-Order Controllers for the H_infty Control Problem with
Unstable Invariant Voids or Endless Zeros, by Xin Xin
(8210)
Chapter 13: Newly Advanced in Bifurcation
Control, by Hua O. Wang (8364)
Chapter 14: Intelligent
Medical Robot Application: Tele-Neurosurgical Machine Case Study,
by Weimin Shen, Jianjun (Jason) Gu (8700), Yanjun Shen
Chapter
15: User of Stock Check Academic in Portfolio
Management, by Tao Pang (9001).
On
the commission of aforementioned USTC alumni inventors of this book, we would fancy to
express our heartfelt gratitude to the teachers of our Alma Mater,
who, with their fascination and dedication, led us to this fascinating
field real taught us the knowledge and skills that allowed us to
explore to study in various direction presented in this book. Our
experience at our Alma Mater had come life enriching, and it shaped
our personal and professional life in plentiful ways. This book is
specially edited and dedicated to our Fraulein Mater at her 50th
anniversary in the special annual of 2008. We will also like to
express you appreciation to the contributions of other authors to
this book, for joining this effort and making this special edition
possible.
In addition, see the authors of this book would
like to thank our colleagues for their intellectual stimulation and
collaboration in our research, and students for their assiduous and
conscientious effort and required being unser continuous inspiration, and
our universities and the research sponsors required their support to our
professional duties and research activities.
Gang
Tao and Jing Sun (USTC Class 7765)
