Adaptive Control in the Presence of High Frequency Modelling Errors PDF Download

Author: James Michael Krause
Publisher:
ISBN:
Category :
Languages : en
Pages : 332

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Author: G.C. Goodwin
Publisher: Elsevier
ISBN: 1483298248
Category : Technology & Engineering
Languages : en
Pages : 275

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The workshop brought together international experts in the field of robust adaptive control to present recent developments in the area. These indicated that the theory of adaptive control is moving closer to applications and is beginning to give realistic guidelines useful in practical situations. The proceedings also focused on the value of such practical features as filtering, normalization, deadzones and unification of robust control and adaptation.

Author: Yugian Liu
Publisher:
ISBN:
Category :
Languages : en
Pages : 0

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Adaptive control, which adapts to a system with unknown or slowly time-varying parameters, is one of the primary control methods for systems with uncertainties in modern control. Utilizing fast adaptation, L1 adaptive control can be extended to systems with general time-varying parameters. Control signal is further low-pass filtered to recover robustness of the resulting closed-loop system. However, the type of uncertainties handled by adaptive control, including L1 adaptive control, is still restrictive in many perspectives. One of the highly concerned restrictions is that the controller should know the sign of high frequency gain in advance. The main contribution of this dissertation has three parts. First of all, this study develops a recursive filtered adaptive state feedback control approach to handle systems with unknown high frequency gain and unmatched uncertainties. It merges the least-squares estimator into L1 adaptive control architecture, which allows the signs of the high-frequency gain to be unknown and thus significantly relaxes the assumptions on it. With the least-squares estimator and projection, the unknown systematic parameters are updated iteratively without losing controllability. It demonstrates the feasibility to extend L1 adaptive control to systems with unknown high frequency gain. The second part focuses on the adaptive attitude control of autonomous underwater vehicles in a dynamic environment. The attitude control problem is one of the fundamental problems to facilitate the advancement of autonomous underwater networks. However, the attitude dynamics have highly-coupled nonlinearity with uncertainties, which are from modeling errors and time-varying external disturbances. To handle uncertainties, an advanced attitude controller, which utilizes L1 adaptive control to get fast and robust adaptation for backstepping control approach, is developed. Moreover, a Lyapunov function-based optimum linearization method is presented to analyze the stability of the uncontrollable channel in the operation region. Finally, this dissertation develops a novel distributed ultrasound temperature sensing system with acoustic multiplexing and Gaussian Radial Basis Functions-based temperature field reconstruction algorithm. This sensing system can provide real-time temperature monitoring for any purpose.

Author: Chalam
Publisher: Routledge
ISBN: 1351468979
Category : Technology & Engineering
Languages : en
Pages : 391

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impossible to access. It has been widely scattered in papers, reports, and proceedings ofsymposia, with different authors employing different symbols and terms. But now thereis a book that covers all aspects of this dynamic topic in a systematic manner.Featuring consistent terminology and compatible notation, and emphasizing unifiedstrategies, Adaptive Control Systems provides a comprehensive, integrated accountof basic concepts, analytical tools, algorithms, and a wide variety of application trendsand techniques.Adaptive Control Systems deals not only with the two principal approachesmodelreference adaptive control and self-tuning regulators-but also considers otheradaptive strategies involving variable structure systems, reduced order schemes, predictivecontrol, fuzzy logic, and more. In addition, it highlights a large number of practical applicationsin a range of fields from electrical to biomedical and aerospace engineering ...and includes coverage of industrial robots.The book identifies current trends in the development of adaptive control systems ...delineates areas for further research . : . and provides an invaluable bibliography of over1,200 references to the literature.The first authoritative reference in this important area of work, Adaptive ControlSystems is an essential information source for electrical and electronics, R&D,chemical, mechanical, aerospace, biomedical, metallurgical, marine, transportation, andpower plant engineers. It is also useful as a text in professional society seminars and inhousetraining programs for personnel involved with the control of complex systems, andfor graduate students engaged in the study of adaptive control systems.

Author: Gerhard Kreisselmeier
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 20

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The adaptive control of a linear time-invariant plant in the presence of bounded disturbances is considered. In addition to the usual assumptions made regarding the plant transfer function, it is also assumed that the high frequency gain (kp) of the plant and an upper bound on the magnitude of the controller parameters, are known. Under these conditions the adaptive controller suggested assures the boundedness of all signals in the overall system.

Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 16

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In this final report we summarize the activities of the MYF/LIDS research group for the time period 1 September 1982 to 31 December 1987. The research, funded by ONR contract N00014-82-K-0582, deals with fundamental issues in robust adaptive control systems, and the potential application of advanced control system design methodologies to the multivariable control of submarines. The research conducted was highly successful, and had significant (and controversial) impact upon the theory of adaptive control. The research of Rohrs, Valavani, Athans and Stein pointed out potential instabilities of then existing adaptive control algorithms caused by the presence of unmeasurable output disturbances and high frequency unmodeled dynamics. The publications of Rohrs et al were instrumental for defining new research directions in the adaptive control field, and the topic of Robust Adaptive Control became a new area for worldwide research. The research of Krause et al provided the first direction for the use of what is now called Averaging Theory for the analysis of adaptive control algorithms in the presence of disturbances and unmodeled dynamics. The research of Orlicki et al provided the first set of adaptive algorithms that actively employ real-time signal processing to compute frequency domain parameters which can be used to safeguard the stability of Model Reference Adaptive schemes that employ Intermittent Adaptation. The research of LaMaire et al deals with novel formulation of Hybrid Robust Identification algorithms which identify in real-time both time-domain models of the unknown plant and modeling error bounds in the frequency domain. The research of Milich et al develops theory and methodologies for designing robust compensators, with guaranteed performance in the presence of large structured and unstructured plant uncertainties. This complements the research conducted which helped streamline the LQG/LTR design methodology for non-adaptive feedback systems.

Author:
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 574

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Author: R. Devanathan
Publisher: Elsevier
ISBN: 1483298957
Category : Technology & Engineering
Languages : en
Pages : 435

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Book Description
This volume contains 67 papers reporting on the state-of-the-art research in the fields of adaptive control and intelligent tuning. Papers include applications in robotics, the processing industries and machine control.

Author: Gang Tao
Publisher: John Wiley & Sons
ISBN: 9780471274520
Category : Science
Languages : en
Pages : 652

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Book Description
A systematic and unified presentation of the fundamentals of adaptive control theory in both continuous time and discrete time Today, adaptive control theory has grown to be a rigorous and mature discipline. As the advantages of adaptive systems for developing advanced applications grow apparent, adaptive control is becoming more popular in many fields of engineering and science. Using a simple, balanced, and harmonious style, this book provides a convenient introduction to the subject and improves one's understanding of adaptive control theory. Adaptive Control Design and Analysis features: Introduction to systems and control Stability, operator norms, and signal convergence Adaptive parameter estimation State feedback adaptive control designs Parametrization of state observers for adaptive control Unified continuous and discrete-time adaptive control L1+a robustness theory for adaptive systems Direct and indirect adaptive control designs Benchmark comparison study of adaptive control designs Multivariate adaptive control Nonlinear adaptive control Adaptive compensation of actuator nonlinearities End-of-chapter discussion, problems, and advanced topics As either a textbook or reference, this self-contained tutorial of adaptive control design and analysis is ideal for practicing engineers, researchers, and graduate students alike.

Author: Naira Hovakimyan
Publisher: SIAM
ISBN: 0898717043
Category : Science
Languages : en
Pages : 333

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Book Description
Contains results not yet published in technical journals and conference proceedings.