L1 Adaptive Controller for Systems with Hysteresis Uncertainties PDF Download

Author: Xiaotian Zou
Publisher:
ISBN:
Category :
Languages : en
Pages : 150

View

Book Description

Author: Jing Na
Publisher: Academic Press
ISBN: 0128136847
Category : Technology & Engineering
Languages : en
Pages : 338

View

Book Description
Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics reports some of the latest research on modeling, identification and adaptive control for systems with nonsmooth dynamics (e.g., backlash, dead zone, friction, saturation, etc). The authors present recent research results for the modelling and control designs of uncertain systems with nonsmooth dynamics, such as friction, dead-zone, saturation and hysteresis, etc., with particular applications in servo systems. The book is organized into 19 chapters, distributed in five parts concerning the four types of nonsmooth characteristics, namely friction, dead-zone, saturation and hysteresis, respectively. Practical experiments are also included to validate and exemplify the proposed approaches. This valuable resource can help both researchers and practitioners to learn and understand nonlinear adaptive control designs. Academics, engineers and graduate students in the fields of electrical engineering, control systems, mechanical engineering, applied mathematics and computer science can benefit from the book. It can be also used as a reference book on adaptive control for servo systems for students with some background in control engineering. Explains the latest research outputs on modeling, identification and adaptive control for systems with nonsmooth dynamics Provides practical application and experimental results for robotic systems, and servo motors

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

View

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

Author: Naira Hovakimyan
Publisher: SIAM
ISBN: 0898719372
Category : Science
Languages : en
Pages : 334

View

Book Description
This book presents a comprehensive overview of the recently developed L1 adaptive control theory, including detailed proofs of the main results. The key feature of the L1 adaptive control theory is the decoupling of adaptation from robustness. The architectures of L1 adaptive control theory have guaranteed transient performance and robustness in the presence of fast adaptation, without enforcing persistent excitation, applying gain-scheduling, or resorting to high-gain feedback.

Author: Jing Zhou
Publisher: CRC Press
ISBN: 1000487768
Category : Technology & Engineering
Languages : en
Pages : 250

View

Book Description
This book presents a series of innovative technologies and research results on adaptive control of dynamic systems with quantization, uncertainty, and nonlinearity, including the theoretical success and practical development such as the approaches for stability analysis, the compensation of quantization, the treatment of subsystem interactions, and the improvement of system tracking and transient performance. Novel solutions by adopting backstepping design tools to a number of hotspots and challenging problems in the area of adaptive control are provided. In the first three chapters, the general design procedures and stability analysis of backstepping controllers and the basic descriptions and properties of quantizers are introduced as preliminary knowledge for this book. In the remainder of this book, adaptive control schemes are introduced to compensate for the effects of input quantization, state quantization, both input and state/output quantization for uncertain nonlinear systems and are applied to helicopter systems and DC Microgrid. Discussion remarks are provided in each chapter highlighting new approaches and contributions to emphasize the novelty of the presented design and analysis methods. Simulation results are also given in each chapter to show the effectiveness of these methods. This book is helpful to learn and understand the fundamental backstepping schemes for state feedback control and output feedback control. It can be used as a reference book or a textbook on adaptive quantized control for students with some background in feedback control systems. Researchers, graduate students, and engineers in the fields of control, information, and communication, electrical engineering, mechanical engineering, computer science, and others will benefit from this book.

Author: Gang Tao
Publisher: Wiley-Interscience
ISBN:
Category : Mathematics
Languages : en
Pages : 320

View

Book Description
The authors present an effective approach to handle some of the most common types of component imperfections encountered in industrial automation, consumer electroncis, and defence and transportation systems.

Author: Jing Zhou
Publisher: Springer Science & Business Media
ISBN: 3540778063
Category : Technology & Engineering
Languages : en
Pages : 246

View

Book Description
This book employs the powerful and popular adaptive backstepping control technology to design controllers for dynamic uncertain systems with non-smooth nonlinearities. Various cases including systems with time-varying parameters, multi-inputs and multi-outputs, backlash, dead-zone, hysteresis and saturation are considered in design and analysis. For multi-inputs and multi-outputs systems, both centralized and decentralized controls are addressed. This book not only presents recent research results including theoretical success and practical development such as the proof of system stability and the improvement of system tracking and transient performance, but also gives self-contained coverage of fundamentals on the backstepping approach illustrated with simple examples. Detail description of methodologies for the construction of adaptive laws, feedback control laws and associated Lyapunov functions is systematically provided in each case. Approaches used for the analysis of system stability and tracking and transient performances are elaborated. Two case studies are presented to show how the presented theories are applied.

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

View

Book Description
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: Wei Wang
Publisher: CRC Press
ISBN: 1498776442
Category : Computers
Languages : en
Pages : 287

View

Book Description
In practice, actuators often undergo failures and various factors influence its effectiveness. Also due to the increasing complexity of large-scale systems, subsystems are often interconnected, whereas the interactions between any two subsystems are difficult to deal with. This book details a series of new methodologies of designing and analyzing adaptive backstepping control systems involving treatment on actuator failures, subsystem interactions and nonsmooth nonlinearities. Moreover, it discusses some interesting open issues in adaptive failure accommodation, decentralized adaptive control and distributed adaptive coordinated control.

Author: Tingting Meng
Publisher: Springer Nature
ISBN: 9811527849
Category : Technology & Engineering
Languages : en
Pages : 190

View

Book Description
This book presents iterative learning control (ILC) to address practical issues of flexible structures. It is divided into four parts: Part I provides a general introduction to ILC and flexible structures, while Part II proposes various types of ILC for simple flexible structures to address issues such as vibration, input saturation, input dead-zone, input backlash, external disturbances, and trajectory tracking. It also includes simple partial differential equations to deal with the common problems of flexible structures. Part III discusses the design of ILC for flexible micro aerial vehicles and two-link manipulators, and lastly, Part IV offers a summary of the topics covered. Unlike most of the literature on ILC, which focuses on ordinary differential equation systems, this book explores distributed parameter systems, which are comparatively less stabilized through ILC.Including a comprehensive introduction to ILC of flexible structures, it also examines novel approaches used in ILC to address input constraints and disturbance rejection. This book is intended for researchers, graduate students and engineers in various fields, such as flexible structures, external disturbances, nonlinear inputs and tracking control.