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Author: Mac Schwager Publisher: ISBN: Category : Languages : en Pages : 101
Book Description
To be implementable in safety critical applications, adaptive controllers must be shown to behave strictly according to predetermined specifications. This thesis presents two tools for verifying specifications relevant to practical direct-adaptive control systems. The first tool is derived from an asymptotic analysis of the error dynamics of a direct adaptive controller and uncertain linear plant. The analysis yields a so called Reduced Linear Asymptotic System, which can be used for designing adaptive systems to meet transient specifications. The tool is demonstrated in two design examples from flight mechanics, and verified in numerical simulation. The second tool developed is an algorithm for direct-adaptive control of plants with magnitude saturation constraints on multiple inputs. The algorithm is a non-trivial extension of an existing technique for single input systems with saturation. Boundeness of all signals is proved for initial conditions in a compact region. In addition, the notion of a class of multi-dimensional saturation functions is introduced. The saturation compensation technique is demonstrated in numerical simulation. Finally, these tools are applied to design a direct-adaptive controller for a realistic multi-input aircraft model to accomplish control reconfiguration in the case of unforeseen failure, damage, or disturbances. A novel control design for incorporating control allocation and reconfiguration is introduced. The adaptive system is shown in numerical simulation to have favorable transient qualities and to give a stable response with input saturation constraints.
Author: Mac Schwager Publisher: ISBN: Category : Languages : en Pages : 101
Book Description
To be implementable in safety critical applications, adaptive controllers must be shown to behave strictly according to predetermined specifications. This thesis presents two tools for verifying specifications relevant to practical direct-adaptive control systems. The first tool is derived from an asymptotic analysis of the error dynamics of a direct adaptive controller and uncertain linear plant. The analysis yields a so called Reduced Linear Asymptotic System, which can be used for designing adaptive systems to meet transient specifications. The tool is demonstrated in two design examples from flight mechanics, and verified in numerical simulation. The second tool developed is an algorithm for direct-adaptive control of plants with magnitude saturation constraints on multiple inputs. The algorithm is a non-trivial extension of an existing technique for single input systems with saturation. Boundeness of all signals is proved for initial conditions in a compact region. In addition, the notion of a class of multi-dimensional saturation functions is introduced. The saturation compensation technique is demonstrated in numerical simulation. Finally, these tools are applied to design a direct-adaptive controller for a realistic multi-input aircraft model to accomplish control reconfiguration in the case of unforeseen failure, damage, or disturbances. A novel control design for incorporating control allocation and reconfiguration is introduced. The adaptive system is shown in numerical simulation to have favorable transient qualities and to give a stable response with input saturation constraints.
Author: Max Cohen Publisher: Springer Nature ISBN: 303129310X Category : Technology & Engineering Languages : en Pages : 209
Book Description
This book stems from the growing use of learning-based techniques, such as reinforcement learning and adaptive control, in the control of autonomous and safety-critical systems. Safety is critical to many applications, such as autonomous driving, air traffic control, and robotics. As these learning-enabled technologies become more prevalent in the control of autonomous systems, it becomes increasingly important to ensure that such systems are safe. To address these challenges, the authors provide a self-contained treatment of learning-based control techniques with rigorous guarantees of stability and safety. This book contains recent results on provably correct control techniques from specifications that go beyond safety and stability, such as temporal logic formulas. The authors bring together control theory, optimization, machine learning, and formal methods and present worked-out examples and extensive simulation examples to complement the mathematical style of presentation. Prerequisites are minimal, and the underlying ideas are accessible to readers with only a brief background in control-theoretic ideas, such as Lyapunov stability theory.
Author: J. Bowen Publisher: Elsevier ISBN: 1483291529 Category : Computers Languages : en Pages : 323
Book Description
As the complexity of embedded computer-controlled systems increases, the present industrial practice for their development gives cause for concern, especially for safety-critical applications where human lives are at stake. The use of software in such systems has increased enormously in the last decade. Formal methods, based on firm mathematical foundations, provide one means to help with reducing the risk of introducing errors during specification and development. There is currently much interest in both academic and industrial circles concerning the issues involved, but the techniques still need further investigation and promulgation to make their widespread use a reality. This book presents results of research into techniques to aid the formal verification of mixed hardware/software systems. Aspects of system specification and verification from requirements down to the underlying hardware are addressed, with particular regard to real-time issues. The work presented is largely based around the Occam programming language and Transputer microprocessor paradigm. The HOL theorem prover, based on higher order logic, has mainly been used in the application of machine-checked proofs. The book describes research work undertaken on the collaborative UK DTI/SERC-funded Information Engineering Dictorate Safemos project. The partners were Inmos Ltd., Cambridge SRI, the Oxford University Computing Laboratory and the University of Cambridge Computer Laboratory, who investigated the problems of formally verifying embedded systems. The most important results of the project are presented in the form of a series of interrelated chapters by project members and associated personnel. In addition, overviews of two other ventures with similar objectives are included as appendices. The material in this book is intended for computing science researchers and advanced industrial practitioners interested in the application of formal methods to real-time safety-critical systems at all levels of abstraction from requirements to hardware. In addition, material of a more general nature is presented, which may be of interest to managers in charge of projects applying formal methods, especially for safety-critical-systems, and others who are considering their use.
Author: W. Eric Wong Publisher: World Scientific ISBN: 9814340928 Category : Computers Languages : en Pages : 308
Book Description
This book focuses on the topic of improving software quality using adaptive control approaches. As software systems grow in complexity, some of the central challenges include their ability to self-manage and adapt at run time, responding to changing user needs and environments, faults, and vulnerabilities. Control theory approaches presented in the book provide some of the answers to these challenges. The book weaves together diverse research topics (such as requirements engineering, software development processes, pervasive and autonomic computing, service-oriented architectures, on-line adaptation of software behavior, testing and QoS control) into a coherent whole. Written by world-renowned experts, this book is truly a noteworthy and authoritative reference for students, researchers and practitioners to better understand how the adaptive control approach can be applied to improve the quality of software systems. Book chapters also outline future theoretical and experimental challenges for researchers in this area.
Author: T.S. Ng Publisher: Elsevier ISBN: 1483296962 Category : Technology & Engineering Languages : en Pages : 240
Book Description
Increasingly, over the last few years, intelligent controllers have been incorporated into control systems. Presently, the numbers and types of intelligent controllers that contain variations of fuzzy logic, neural network, genetic algorithms or some other forms of knowledge based reasoning technology are dramatically rising. However, considering the stability of the system, when such controllers are included it is difficult to analyse and predict system behaviour under unexpected conditions. Leading researchers and industrial practitioners were able to discuss and evaluate current development and future research directions at the first IFAC International Workshop on safety, reliability and applications on emerging intelligent control technology. This publication contains the papers, covering a wide range of topics, presented at the workshop.
Author: Stefan Kozak Publisher: Elsevier ISBN: 9780080441757 Category : Science Languages : en Pages : 576
Book Description
The material presented in this volume represents current ideas, knowledge, experience and research results in various fields of control system design.
Author: Margareta Stefanovic Publisher: Springer Science & Business Media ISBN: 1849964521 Category : Technology & Engineering Languages : en Pages : 153
Book Description
Safe Adaptive Control gives a formal and complete algorithm for assuring the stability of a switched control system when at least one of the available candidate controllers is stabilizing. The possibility of having an unstable switched system even in the presence of a stabilizing candidate controller is demonstrated by referring to several well-known adaptive control approaches, where the system goes unstable when a large mismatch between the unknown plant and the available models exists ("plant-model mismatch instability"). Sufficient conditions for this possibility to be avoided are formulated, and a "recipe" to be followed by the control system designer to guarantee stability and desired performance is provided. The problem is placed in a standard optimization setting. Unlike the finite controller sets considered elsewhere, the candidate controller set is allowed to be continuously parametrized so that it can deal with plants with a very large range of uncertainties.
Author: Mac Schwager
Author: Mac Schwager
Author: Max Cohen
Author: J. Bowen
Author: 
Author: W. Eric Wong
Author: T.S. Ng
Author: Stefan Kozak
Author: Naira Hovakimyan
Author: Margareta Stefanovic
Author: