Systematic Adaptive Control Design Using Sequential Loop Closure
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Systematic Adaptive Control Design Using Sequential Loop Closure
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Author : Daniel Philip Wiese
language : en
Publisher:
Release Date : 2016
Systematic Adaptive Control Design Using Sequential Loop Closure written by Daniel Philip Wiese and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
This thesis presents a new, systematic method of synthesizing an output feedback adaptive controller for a class of uncertain, non-square multi-input/multi-output systems. The control design process consists of first designing an inner-loop controller for a reduced order plant model to enforce command tracking of selected inner-loop variables, with an adaptive element used to accommodate parametric uncertainties in the plant. Once this inner-loop control design is complete, an outer-loop is then designed which prescribes the inner-loop commands to enforce command tracking of selected outer-loop variables. The main challenge that needs to be addressed when designing the inner-loop controller is the determination of a corresponding square and strictly positive real transfer function. The first contribution of this thesis is the design of a new procedure to synthesize two gain matrices that allow the realization of such a transfer function, thereby allowing a globally stable adaptive output feedback law to be generated. The unique features of this output feedback adaptive controller are a baseline controller that uses a Luenberger observer, a closed-loop reference model, manipulations of a bilinear matrix inequality, and the Kalman- Yakubovich lemma. Using these features, a simple design procedure is proposed for the adaptive controller, and the corresponding stability property is established. The outer-loop controller is designed around the plant with existing adaptive inner-loop controller such that global stability of the closed-loop system is guaranteed. The design of the outer-loop uses components of a closed-loop reference model in a judicious manner which enables a modular approach, without any re-design of the inner-loop controller. In addition, this architecture facilitates the use of an additional state-limiter to enforce desired limits on the state variables. A numerical example based on a scramjet powered, generic hypersonic vehicle model is presented, demonstrating the efficacy of the proposed control design. The six-degree-of-freedom nonlinear vehicle model is linearized, giving the design model for which the controller is synthesized. The adaptive output feedback controller is then applied to an evaluation model, which is nonlinear, coupled, and includes actuator dynamics, and it is shown to result in stable tracking in the presence of uncertainties that destabilize the baseline controller. Benefits of various aspects of the sequential and modular control design as well as its adaptive components are clearly illustrated in this numerical example.
Adaptive Control Design And Analysis
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Author : Gang Tao
language : en
Publisher: John Wiley & Sons
Release Date : 2003-07-09
Adaptive Control Design And Analysis written by Gang Tao and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-07-09 with Science categories.
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.
Nonlinear And Adaptive Control Design
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Author : Miroslav Krstic
language : en
Publisher: Wiley-Interscience
Release Date : 1995-06-14
Nonlinear And Adaptive Control Design written by Miroslav Krstic and has been published by Wiley-Interscience this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995-06-14 with Computers categories.
Using a pedagogical style along with detailed proofs and illustrative examples, this book opens a view to the largely unexplored area of nonlinear systems with uncertainties. The focus is on adaptive nonlinear control results introduced with the new recursive design methodology--adaptive backstepping. Describes basic tools for nonadaptive backstepping design with state and output feedbacks.
Cooperative Control Design
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Author : He Bai
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-06-03
Cooperative Control Design written by He Bai and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-06-03 with Technology & Engineering categories.
Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The goal of the book is to introduce passivity as a design tool for multi-agent systems, to provide exemplary work using this tool, and to illustrate its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination. Followed by the case of adaptive redesigns for reference velocity recovery while describing a basic design, a modified design and the parameter convergence problem. Formation control is presented as it relates to relative distance control and relative position control. The coverage is concluded with a comprehensive discussion of agreement and the synchronization problem with an example using attitude coordination.
Adaptive Control Of Nonsmooth Dynamic Systems
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Author : Gang Tao
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-04-17
Adaptive Control Of Nonsmooth Dynamic Systems written by Gang Tao and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-04-17 with Technology & Engineering categories.
Many of the non-smooth, non-linear phenomena covered in this well-balanced book are of vital importance in almost any field of engineering. Contributors from all over the world ensure that no one area’s slant on the subjects predominates.
Adaptive Control
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Author : Karl Johan Åström
language : en
Publisher: Prentice Hall
Release Date : 1995
Adaptive Control written by Karl Johan Åström and has been published by Prentice Hall this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995 with Technology & Engineering categories.
What is adaptive control - Real-time parameter estimation - Deterministic self-tuning regulators - Stochastic and predictive self-tuning regulators - Model-reference adaptive systems - Properties of adaptive systems - Stochastic adaptive cotrol - Auto-tuning - Gain scheduling - Robust and self-oscillating systems - Practical issues and implementation - Commercial products and applications - Perspectives on adaptive control.
Reliable Control And Filtering Of Linear Systems With Adaptive Mechanisms
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Author : Guang-Hong Yang
language : en
Publisher: CRC Press
Release Date : 2018-09-03
Reliable Control And Filtering Of Linear Systems With Adaptive Mechanisms written by Guang-Hong Yang and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-09-03 with Computers categories.
More and more, the advanced technological systems of today rely on sophisticated control systems designed to assure greater levels of safe operation while optimizing performance. Rather than assuming always perfect conditions, these systems require adaptive approaches capable of coping with inevitable system component faults. Conventional feedback control designs do not offer that capability and can result in unsatisfactory performance or even instability, which is totally unacceptable in complex systems such as aircraft, spacecraft, and nuclear power plants where safety is a paramount concern. Reliable Control and Filtering of Linear Systems with Adaptive Mechanisms presents recent research results that are advancing the field. It shows how adaptive mechanisms can be successfully introduced into the traditional reliable control/filtering, so that, based on the online estimation of eventual faults, the proposed adaptive reliable controller/filter parameters are updated automatically to compensate for any fault effects. Presenting a new method for fault-tolerant control (FTC) in the context of existing research, this uniquely cohesive volume, coauthored by two leading researchers — Focuses on the issues of reliable control/filtering in the framework of indirect adaptive method and LMI techniques Starts from the development and main research methods in FTC to offer a systematic presentation of new methods for adaptive reliable control/filtering of linear systems Explains the principles behind adaptive designs for closed-loop systems in normal operation as well as those that account for both actuator and sensor failures Presents rigorous mathematical analysis of control methods as well as easy-to-implement algorithms Includes practical case studies derived from the aerospace industry including simulation results for the F-16 The authors also extend the design idea from linear systems to linear time-delay systems via both memory and memory-less controllers. Moreover, some more recent results for the corresponding adaptive reliable control against actuator saturation are included. Ultimately, this remarkably practical resource, offers design approaches and guidelines that researchers can readily employ in the design of advanced FTC techniques offering improved reliability, maintainability, and survivability.
Adaptive Control Of Dynamic Systems With Uncertainty And Quantization
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Author : Jing Zhou
language : en
Publisher: CRC Press
Release Date : 2021-12-15
Adaptive Control Of Dynamic Systems With Uncertainty And Quantization written by Jing Zhou and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-12-15 with Technology & Engineering categories.
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.
Adaptive Control For Partially Known Systems
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Author : Carlos A. Canudas de Wit
language : en
Publisher: Elsevier Publishing Company
Release Date : 1988
Adaptive Control For Partially Known Systems written by Carlos A. Canudas de Wit and has been published by Elsevier Publishing Company this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988 with Technology & Engineering categories.
Adaptive control has been considered as an alternative in designing high-performance control systems, from the beginning of the 1950s. Since then, most of the adaptive control schemes have been formulated either in the continuous-time or in the discrete-time framework. Both approaches commonly use black-box'' models for describing the process to be controlled; models with known structure but unknown parameters. These models have the advantage that they are general but also the disadvantage that many parameters have to be estimated. There are in practice, however, many adaptive problems where the system can be described as partially known in the sense that part of the system dynamics is known and another part unknown. This is the kind of system considered in this book. Most of the adaptive algorithms that are reliable - in the sense that they guarantee closed-loop stability and some performance behaviour - require to a certain extent some system knowledge and a checking procedure for the caution update of the parameter estimates.
Applied Digital Control
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Author : James R. Leigh
language : en
Publisher:
Release Date : 1992
Applied Digital Control written by James R. Leigh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1992 with Technology & Engineering categories.
In the field of applied digital control, recent years have seen an increased emphasis on robustness and realistic adaptive control. This edition features new chapters to cover these topics, with a discussion of the practicalities of achieving adaptive control in an industrial situation.