Nonlinear and adaptive control of complex systems:
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Dordrecht [u.a.]
Kluwer
1999
|
| Schriftenreihe: | Mathematics and its applications
491 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XVIII, 510 S. |
| ISBN: | 0792358929 |
Internformat
MARC
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| 100 | 1 | |a Fradkov, Aleksandr L. |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Nonlinear and adaptive control of complex systems |c by Alexander L. Fradkov, Iliya V. Miroshnik, and Vladimir O. Nikoforov |
| 264 | 1 | |a Dordrecht [u.a.] |b Kluwer |c 1999 | |
| 300 | |a XVIII, 510 S. | ||
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| 490 | 1 | |a Mathematics and its applications |v 491 | |
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| 650 | 4 | |a Nonlinear control theory | |
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| 700 | 1 | |a Miroshnik, Iliya V. |e Verfasser |4 aut | |
| 700 | 1 | |a Nikiforov, Vladimir O. |e Verfasser |4 aut | |
| 830 | 0 | |a Mathematics and its applications |v 491 |w (DE-604)BV008163334 |9 491 | |
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Datensatz im Suchindex
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| adam_text | IMAGE 1
NONLINEAR AND ADAPTIVE
CONTROL OF COMPLEX SYSTEMS
BY ALEXANDER L. FRADKOV INSTITUTE FOR PROBLEMS OF MECHANICAL ENGINEERING
OFTHE RUSSIAN ACADEMY OF SCIENCES, ST PETERSBURG, RUSSIA
ILIYA V. MIROSHNIK
ST PETERSBURG, STATE INSTITUTE OFFINE MECHANICS AND OPTICS, ST
PETERSBURG, RUSSIA
AND
VLADIMIR O. NIKIFOROV ST PETERSBURG, STATE INSTITUTE OFFINE MECHANICS
AND OPTICS, ST PETERSBURG, RUSSIA
KLUWER ACADEMIC PUBLISHERS
DORDRECHT / BOSTON / LONDON
IMAGE 2
TABLE OF C O N T E N TS
P R E F A CE XI
N O T A T I O NS A ND D E F I N I T I O NS XV
1 F A C ES OF C O M P L E X I TY 1
1.1 COMPLEXITY AND DECOMPOSITION 1
1.2 MULTIVARIABLE CONTROL AND GEOMETRY 5
1.2.1 COORDINATING CONTROL 6
1.2.2 OSCILLATION SYNCHRONIZATION 8
1.2.3 SPATIAL MOTION CONTROL 10
1.2.4 TERMINAL CONTROL 15
1.2.5 STATE TRACKING SYSTEMS 16
1.3 UNCERTAINTY AND ADAPTATION 17
2 N O N L I N E AR S Y S T E M S:
A N A L Y S IS A ND D E S I GN T O O LS 25
2.1 STABILITY OF NONLINEAR SYSTEMS 25
2.1.1 COMPLETENESS AND STABILITY 25
2.1.2 LYAPUNOV FUNCTIONS AND THEIR APPLICATIONS 32
2.1.3 PARTIAL STABILITY 37
2.2 EQUIVALENT MODELS A,ND COORDINATE CHANGES 44
2.2.1 AUTONOMOUS SYSTEMS 45
2.2.2 SINGLE-INPUT SYSTEMS AND CONTROLLABILITY 47
2.2.3 CANONICAL FORMS 49
2.3 BASIC CANONICAL FORM AND LINEARIZATION TECHNIQUES . . .. 52
2.3.1 BASIC CANONICAL FORM 52
2.3.2 EXACT LINEARIZATION 56
2.3.3 LINEAR APPROXIMATION 57
2.4 EQUIVALENCE OF MULTI-INPUT SYSTEMS 60
2.5 INPUT-OUTPUT CANONICAL FORMS AND STABILIZATION WITH RESPECT TO
OUTPUT 63
2.5.1 MAIN TRANSLORINATION A/ND LINEARIZED DYNAMICS . . .. 64
2.5.2 SYSTEM ZERO DYNAMICS 67
V
IMAGE 3
VI
2.5.3 NORMAL FORM AND LOCAL STABILIZATION 68
2.6 CONTROL OF TRIANGULAER SYSTEMS 71
2.7 PASSIVITY AND PASSIFICATION 76
2.7.1 PASSIVITY AND STABILITY 76
2.7.2 PASSIVITY AND DISSIPATIVITY 78
2.7.3 PASSIVITY AND KAIMAN-YAKUBOVICH LEMMA 80
2.7.4 PASSIFICATION AND FEEDBACK KAIMAN-YAKUBOVICH LEMMA 84
3 S P E E D - G R A D I E NT M E T H OD A ND
P A R T I AL S T A B I L I Z A T I ON 91
3.1 GOAL-ORIENTED CONTROL PROBLEM STATEMENT 91
3.2 DESIGN OF SPEED-GRADIENT ALGORITHMS 94
3.2.1 SPEED-GRADIENT ALGORITHMS FOR LOCAL OBJECTIVE FUNCTIONALS 94
3.2.2 SPEED-GRADIENT ALGORITHMS FOR INTEGRAL OBJECTIVE FUNCTIONALS 95
3.2.3 SPEED-GRADIENT ALGORITHMS IN FINITE FORM 96
3.2.4 COMBINED ALGORITHMS 97
3.3 CONVERGENCE OF THE SPEED-GRADIENT ALGORITHMS 97
3.3.1 REGULATION A,ND TRACKING 97
3.3.2 PARTIAL STABILIZATION 105
3.4 IDENTIFYING PROPERTIES OF SPEED-GRADIENT ALGORITHMS . . .. 111
3.5 ROBUSTNESS OF SPEED-GRADIENL ALGORITHMS WITH RESPECT TO DISTURBANCES
113
3.6 SPEED-GRADIENT CONTROL OF HAMILTONIAN SYSTEMS 118
3.6.1 CONTROL OF ENERGY 118
3.6.2 CONTROL OF FIRST INTEGRALS 122
4 N O N L I N E AR C O N T R OL OF M U L T I V A R I A B LE S Y S T E MS
127
4.1 MULTIVARIABLE CONTROL AND GEOMETRIE APPROACH 127
4.2 EQUILIBRIUM STABILIZATION 129
4.2.1 STATE REGULATION PROBLEMS 129
4.2.2 STABILIZATION VIA EXAET LINEARIZATION 131
4.2.3 STABILIZATION VIA LINEAR APPROXIMATION 133
4.3 A T T R A C T I NG SETS 135
4.3.1 ATTRACTIVITY AND INVARIANCE 135
4.3.2 NEJGHBORHOOD PROPERTIES 140
4.3.3 EQUIVALENT DYNAMICS OF AUTONOMOUS SYSTEMS . . .. 146
4.3.4 CONDITIONS OF ATTRACTIVITY 148
4.4 SET STABILIZATION 153
4.4.1 CONTROL PROBLEMS AND INVARIANCE CONDITIONS 153
IMAGE 4
VLL
4.4.2 PROBLEM DECOMPO SITION AND INVARIANT CONTROL . . .. 157
4.4.3 EQUIVALENT DYNAMICS 163
4.4.4 SYSTEM STABILIZATION 167
4.5 STATE TRACKING CONTROL 173
4.5.1 TRA,CKING PROBLEM 173
4.5.2 INVARIANT CONTROL 175
4.5.3 SYSTEM STABILIZATION 177
5 N O N L I N E AR C O N T R OL OF M I MO S Y S T E MS 183
5.1 PROBLEMS OF OUTPUT CONTROL AND COORDINATION OF MIMO
SYSTEMS 183
5.2 OUTPUT REGULATION 185
5.2.1 REGULATION PROBLEM 185
5.2.2 MAIN TRANSFORMATIONS 186
5.2.3 SYSTEMS WITHOUT ZERO DYNAMICS 191
5.2.4 ZERO DYNAMICS SUBMANIFOLD 193
5.2.5 SYSTEM EQUIVALENT DYNAMICS 194
5.2.6 ISSUES OF EQUIVALENCE AND STABILITY 199
5.3 OUTPUT COORDINATION 212
5.3.1 (KOORDINATION CONDITIONS 212
5.3.2 PROBLEMS OF COORDINATING CONTROL 216
5.3.3 TRANSFORMATION TO NORMAL FORM 219
5.3.4 TRANSFORMATION TO TASK-ORIENTED FORM 223
5.4 COORDINATING CONTROL 230
5.4.1 CONTROL PROBLEMS IN STATE SPACE 230
5.4.2 BASIC CONTROL LAW AND PARTIAL DECONPLING 231
5.4.3 CONTROL BY USING IMPLICIT MODEIS 232
5.4.4 CONTROL BY USING REFERENCE MODEL 237
5.5 SPATIAL MOTION CONTROL 242
5.5.1 SET STABILIZATION IN OUTPUT SPACE 243
5.5.2 CANONICAL REPRESENTATIONS AND DIFFERENTIAL FORMS . . . 246
5.5.3 SYSTEM EQUIVALENT DYNAMICS AND CONTROL DESIGN . . . 257
6 A D A P T I VE A ND R O B U ST C O N T R OL D E S I GN 265
6.1 STATE-FEEDBACK CONTROL 266
6.1.1 CERTAINTY EQUIVALENCE DESIGN 266
6.1.2 RECURSIVE DESIGN PROCEDURES 283
6.2 OUTPUT-FEEDBACK CONTROL 297
6.2.1 CONTROL OF STRICTLY PASSIVE ARID STRICTLY MINIMUM PHASE SYSTEMS
298
6.2.2 AUGMENTED ERROR BASED DESIGN 303
6.2.3 HIGH-ORDER TUNER BASED DESIGN 309
IMAGE 5
6.3 OUTPUT-FEEDBACK ADAPTIVE SYSTEMS WITH IMPLICIT REFERENCE
MODEL 320
6.3.1 DESIGN OF ADAPTIVE CONTROLLER 320
6.3.2 SHUNTING METHOD 323
6.4 OUTPUT-FEEDBACK CONTROL OF UNCERTAIN LINEAR PLANTS UNDER IDEAL
CONDITIONS 328
6.4.1 PROBLEM STATEMENT 329
6.4.2 PLANT MODEL PARAMETRIZATIONS 329
6.4.3 CERTAINTY EQUIVALENCE DESIGN 337
6.4.4 DYNAMIC CERTAINTY EQUIVALENCE DESIGN 342
6.4.5 NONLINEAR ADAPTIVE DESIGN FOR LINEAR PLANTS 349
6.4.6 DISCUSSION 369
6.5 OUTPUT-FEEDBACK CONTROL OF UNCERTAIN LINEAR PLANTS IN THE PRESENCE
OF EXTERNA] DISTURBANC.ES 373
6.5.1 PLANT MODEL PARAMETRIZATIONS 373
6.5.2 ROBUST CONTROLLERS WITH HIGH-ORDER TUNERS 375
6.5.3 ROBUST CONTROLLER WITH NONLINEAR DAMPING TERMS . . 381
D E C O M P O S I T I ON OF A D A P T I VE S Y S T E MS 3 91
7.1 SEPARATION OF MOTIONS IN ADAPTIVE SYSTEMS 392
7.1.1 THE FIRST SCHEINE OF MOTION SEPARATION FOR CONTINUOUS TIME SYSTEMS
392
7.1.2 THE FIRST SCHEINE OF MOTION SEPARATION FOR DISCRETETIME SYSTEMS
399
7.1.3 THE SECOND SCHEME OF MOTION SEPARATION 401
7.2 CONDITIONS OF APPLICABILITY AND ESTIMATION OF ACCURACY OF THE MOTION
SEPARATION SCHEINES IN ADAPTIVE SYSTEMS . . .. 403
7.2.1 APPLICABILITY OF THE SPEED-GRADIENT ALGORITHMS TO SINGULARLY
PERTURBED SYSTEMS 405
7.2.2 DISCRETIZATION OF THE SPEED-GRADIENT ALGORITHMS . . . 417
7.3 ADAPTIVE DECENTRALIZED CONTROL OF INTERCONNECTED NONLINEAR SYSTEMS
419
7.3.1 PROBLEM STATEMENT AND CONTROL ALGORITHM 419
7.3.2 PROPERTIES OF THE CONTROL SYSTEM 421
C O N T R OL OF M E C H A N I C AL S Y S T E MS 4 29
8.1 SPATIAL MOTION CONTROL OF RIGID BODY 429
8.1.1 DYNAMICS AND KINEMATICAL PROPERTIES 429
8.1.2 MASS-POINT CONTROL 433
8.1.3 CONTROL OF ROTATION 436
8.2 ROBOT MOTION CONTROL 438
8.2.1 ROBOT MODEL AND THE PROBLEM STATEMENT 439
IMAGE 6
IX
8.2.2 DIFFERENTIAL RELATIONS AND THE MAIN APPROACH 442
8.2.3 TRAJECTORY CONTROL STRATEGY 446
8.3 MOBILE ROBOT CONTROL 449
8.3.1 ANALYSIS OF ROBOT DYNAMICS 449
8.3.2 CONTROL PROBLEM STATEMENT 453
8.3.3 CONTROL LAW DESIGN 455
8.4 CONTROL OF OSCILLATORY SYSTEMS 459
8.4.1 ENERGY CONTROL OF A PENDULUM WITH CONTROLLED PIVOT 459
8.4.2 WHEELING A RAR OUT OF A DITCH 464
9 P H Y S I CS A ND C O N T R OL 4 69
9.1 FEEDBACK RESONANCE IN A NONLINEAR OSCILLATOR 469
9.2 SUPEROPTIMAL ESCAPE FROM POTENTIAL WELLS 473
9.3 STABILIZATION OF UNSTABLE MODES 475
9.4 FEEDBACK SPECTROSCOPY 476
9.5 EXCITABILITY INDEX 477
9.6 SPEED-GRADIENT LAWS OF DYNAMICS 479
9.7 ONZAGGER EQUATIONS 482
9.8 DISCUSSION 483
A A P P E N D IX 4 85
R E F E R E N C ES 4 93
I N D EX 507
|
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| id | DE-604.BV013047019 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-09T18:38:13Z |
| institution | BVB |
| isbn | 0792358929 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-008889333 |
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| owner_facet | DE-703 DE-83 |
| physical | XVIII, 510 S. |
| publishDate | 1999 |
| publishDateSearch | 1999 |
| publishDateSort | 1999 |
| publisher | Kluwer |
| record_format | marc |
| series | Mathematics and its applications |
| series2 | Mathematics and its applications |
| spelling | Fradkov, Aleksandr L. Verfasser aut Nonlinear and adaptive control of complex systems by Alexander L. Fradkov, Iliya V. Miroshnik, and Vladimir O. Nikoforov Dordrecht [u.a.] Kluwer 1999 XVIII, 510 S. txt rdacontent n rdamedia nc rdacarrier Mathematics and its applications 491 Adaptive control systems Dynamics Nonlinear control theory Kontrolltheorie (DE-588)4032317-1 gnd rswk-swf Komplexes System (DE-588)4114261-5 gnd rswk-swf Komplexes System (DE-588)4114261-5 s Kontrolltheorie (DE-588)4032317-1 s DE-604 Miroshnik, Iliya V. Verfasser aut Nikiforov, Vladimir O. Verfasser aut Mathematics and its applications 491 (DE-604)BV008163334 491 GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008889333&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Fradkov, Aleksandr L. Miroshnik, Iliya V. Nikiforov, Vladimir O. Nonlinear and adaptive control of complex systems Mathematics and its applications Adaptive control systems Dynamics Nonlinear control theory Kontrolltheorie (DE-588)4032317-1 gnd Komplexes System (DE-588)4114261-5 gnd |
| subject_GND | (DE-588)4032317-1 (DE-588)4114261-5 |
| title | Nonlinear and adaptive control of complex systems |
| title_auth | Nonlinear and adaptive control of complex systems |
| title_exact_search | Nonlinear and adaptive control of complex systems |
| title_full | Nonlinear and adaptive control of complex systems by Alexander L. Fradkov, Iliya V. Miroshnik, and Vladimir O. Nikoforov |
| title_fullStr | Nonlinear and adaptive control of complex systems by Alexander L. Fradkov, Iliya V. Miroshnik, and Vladimir O. Nikoforov |
| title_full_unstemmed | Nonlinear and adaptive control of complex systems by Alexander L. Fradkov, Iliya V. Miroshnik, and Vladimir O. Nikoforov |
| title_short | Nonlinear and adaptive control of complex systems |
| title_sort | nonlinear and adaptive control of complex systems |
| topic | Adaptive control systems Dynamics Nonlinear control theory Kontrolltheorie (DE-588)4032317-1 gnd Komplexes System (DE-588)4114261-5 gnd |
| topic_facet | Adaptive control systems Dynamics Nonlinear control theory Kontrolltheorie Komplexes System |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008889333&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV008163334 |
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