Adaptive Control Systems

Description

Adaptive control is no longer just an important theoretical field of study, but is also providing solutions to real-world problems. Adaptive techniques will transform the world of control. The leading world practitioners of adaptive control have contributed to this handbook which is the most important work yet in this field. Not only are techniques described in theory, but detailed control algorithms are given, making this a practical cookbook of adaptive control for both control professionals and practising engineers. The book presents the most advanced techniques and algorithms of adaptive control. These include various robust techniques, performance enhancement techniques, techniques with less a-priori knowledge, nonlinear adaptive control techniques and intelligent adaptive techniques. Each technique described has been developed to provide a practical solution to a real-life problem. This volume will therefore not only advance the field of adaptive control as an area of study, but will also show how the potential of this technology can be realised and offer significant benefits. Contents List of contributors Preface 1. Adaptive internal model control 1.1 Introduction 1.2 Internal model control (IMC) schemes: known parameters 1.3 Adaptive internal model control schemes 1.4 Stability and robustness analysis 1.5 Simulation examples 1.6 Concluding remarks 2. An algorithm for robust adaptive control with less prior knowlege 2.1 Introduction 2.2 Problem formulation 2.3 Ordinary direct adaptive control with dead zone 2.4 New robust direct adaptive control 2.5 Robust adaptive control with least prior knowledge 2.6 Simulation example 2.7 Conclusions 3. Adaptive variable structure control 3.1 Introduction 3.2 Problem formulation 3.3 The case of relative degree one 3.4 The case of arbitrary relative degree 3.5 Computer simulations 3.6 Conclusion 4. Indirect adaptive periodic control 4.1 Introduction 4.2 Problem formulation 4.3 Adaptive control scheme 4.4 Adaptive control law 4.5 Simulations 4.6 Conclusions 5. Adaptive stabilization of uncertain discrete-time systems via switching control: the method of localization 5.1 Introduction 5.2 Problem statement 5.3 Direct localization principle 5.4 Indirect localization principle 5.5 Simulation examples 5.6 Conclusions Appendix 5A Appendix 5B 6. Adaptive nonlinear control: passivation and small gain techniques 6.1 Introduction 6.2 Mathematical preliminaries 6.3 Adaptive passivation 6.4 Small gain-based adaptive control 6.5 Conclusions 7. Active identification for control of discrete-time uncertain nonlinear systems 7.1 Introduction 7.2 Problem formulation 7.3 Active identification 7.4 Finite duration 7.5 Concluding remarks 8. Optimal adaptive tracking for nonlinear systems 8.1 Introduction 8.2 Problem statement: adaptive tracking 8.3 Adaptive tracking and atclf's 8.4 Adaptive backstepping 8.5 Inverse optimal adaptive tracking 8.6 Inverse optimality via backstepping 8.7 Design for strict-feedback systems 8.8 Transient performance 8.9 Conclusions Appendix: A technical lemma 9. Stable adaptive systems in the presence of nonlinear parametrization 9.1 Introduction 9.2 Statement of the problem 9.3 Preliminaries 9.4 Stable adaptive NP-systems 9.5 Applications 9.6 Conclusions Appendix: Proof of lemmas 10. Adaptive inverse for actuator compensation 10.1 Introduction 10.2 Plants with actuator nonlinearities 10.3 Parametrized inverses 10.4 State feedback designs 10.5 Output feedback inverse control 10.6 Output feedback designs 10.7 Designs for multivariable systems 10.8 Designs for nonlinear dynamics 10.9 Concluding remarks 11. Stable multi-input multi-output adaptive fuzzy/neural control 11.1 Introduction 11.2 Direct adaptive control 11.3 Indirect adaptive control 11.4 Applications 11.5 Conclusions 12. Adaptive robust control scheme with an application to PM synchronous motors 12.1 Introduction 12.2 Problem formation 12.3 Adaptive robust control with modification 12.4 Application to PM synchronous motors 12.5 Conclusion Appendix A Appendix B Appendix C Appendix D Appendix E Index Пустая страница