Direct adaptive control algorithms: theory and applications
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Book |
| Language: | German |
| Published: |
New York [u.a.]
Springer
1998
|
| Edition: | 2. ed. |
| Series: | Communications and control engineering series
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Item Description: | Literaturverz. S. 409 - 419 |
| Physical Description: | XXVI, 424 S. graph. Darst. |
| ISBN: | 0387948848 |
Staff View
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Record in the Search Index
| _version_ | 1804126310736330752 |
|---|---|
| adam_text | Howard Kaufman Itzhak Barkana
Kenneth Sobel
Direct Adaptive Control Algorithms
Theory and Applications
Second Edition
With 242 Figures
Case Studies contributed by David S Bayard
and Gregory W Neat, Pasadena, California
Springer
Contents
Preface vii
Acknowledgments xi
List of Figures xix
List of Tables xxvii
1 Introduction 1
1 1 Definition of the Problem 1
1 2 Prologue to Simple Adaptive Control 4
1 3 Background on Adaptive Control Algorithms 12
1 4 Objectives and Overview 16
141 Objectives 16
142 Relation with Other Texts 17
143 Overview of Text 17
1 5 Software Availability for Example Problems 17
2 Basic Theory of Simple Adaptive Control 19
2 1 Model Following 19
2 2 Output Model Following 22
221 Command Generator Tracker Description 23
222 Modifications for the Tracking of A Larger Class
of Input Commands 26
223 The General Tracking Problem 32
xiv Contents
2 3 Stability and Positivity Concepts 36
231 Introduction: Stability with Fixed Controllers
Versus Nonlinear Adaptive Controllers 36
232 Basic Stability Concepts 39
233 Positive Real Analysis 45
2 4 Adaptive Control Based on CGT 53
241 Controller Structure 53
242 Stability Analysis 55
243 System Constraints 56
244 An Illustrative Example 58
2 5 The Adaptive Algorithm with General Input Commands 60
251 Controller Structure 60
252 Stability Analysis 63
253 An Illustrative Example 64
2 6 Summary of Adaptive Algorithms 64
Appendix 2A Proof of Theorem 2 1 67
Appendix 2B Proof of Theorem 2 2 71
Appendix 2C Poles, Zeros, and Relative Degree in
Multivariable Systems 75
3 Extensions of the Basic Adaptive Algorithm 77
3 1 Parallel Feedforward and Stability Considerations 77
3 2 Feedforward Around Plant 83
321 Adaptive Control with Basic Feedforward
Augmentation 83
322 Summary of MRAC Using Plant Feedforward 84
323 Illustrative Examples 85
3 3 Feedforward in Both Plant and Model 91
331 Modifications to Insure Asymptotic Model
Following 91
332 Stability Proof 98
333 Summary of Constraints and Design Rules 103
334 Illustrative Examples 104
335 Conclusions and Recommendations 105
34A Unified Approach to Supplementary Dynamics 106
341 Theory 110
342 Summary of Constraints and Design Rules 125
343 Illustrative Examples 129
3 5 Adaptive Control in the Presence of Nonlinearities 137
351 Adaptation for Nonlinearity of Known Form 137
352 Adaptation When the Linear Part Is not ASPR 146
3 6 Summary 154
Appendix 3A Proof of Positivity Lemmas 155
Appendix 3B Proof of Theorem 3 1 163
Appendix 3C Proof of Theorem 3 2 168
Contents xv
Appendix 3D Proof of Theorem 3 3 171
Appendix 3E Proof of Theorem 3 4 175
Appendix 3F Outline of Proof of Theorem 3 5 178
Robust Design Procedures 181
4 1 Introduction 181
4 2 Robust Redesign of the Basic Adaptive Algorithm 182
421 Algorithm Description 182
422 Illustrative Examples 190
4 3 Robustness Considerations with Feedforward in the
Reference Model 194
431 Algorithm Description 194
432 Illustrative Examples 195
4 4 Robust Redesign for Supplementary Dynamics 205
441 Algorithm Description 205
442 Error System Equations 207
443 Stability Analysis 208
444 Illustrative Examples 209
4 5 Bursting Phenomena and Their Elimination 223
4 6 Summary 230
Appendix 4A Proof of Robust Stability, Theorem 4 1 232
Appendix 4B Development of Lyapunov Function Derivative 236
Appendix 4C Proof of Theorem 4 2 238
Adaptive Control of Time-Varying and Nonlinear Systems 241
5 1 Introduction 241
5 2 Passivity and Almost Passivity of Nonstationary Systems 242
5 3 Adaptive Control of ASP Plants 245
5 4 The Almost Passivity Lemmas 249
5 5 Passivity and Almost Passivity of Nonlinear Systems 250
5 6 Simple Adaptive Control for a Class of Nonlinear
Systems 255
5 7 Simple Adaptive Control of Rigid Robotic Manipulators 256
5 8 Summary 258
Appendix 5A Proof of Stability for the Algorithm (5 27)-(5 32) 260
Appendix 5B Strictly Causal Almost Passive Systems 268
Appendix 5C Proof of Lemma 5 1 269
Appendix 5D Proof of Almost Passivity Lemma in Nonlinear
Systems 272
Appendix 5E Almost Passivity with Application to
Manipulators 278
Appendix 5F The Proof of Stability of the Adaptive Control
Algorithm 284
Appendix 5G Adaptive Control of Strictly Causal Almost
Passive Systems 291
xvi Contents
6 Design of Model Reference Adaptive Controllers 293
6 1 Algorithm Overview 293
6 2 Constraint Satisfaction 295
621 Feedforward Compensator Design for SISO Plants 296
622 Feedforward Compensator Design for MIMO
Plants 310
6 3 Weight Selection 326
6 4 Reference Model Selection 330
6 5 Digital Implementation 331
6 6 Time-Varying Commands 332
661 Command Generated as Output of Linear System 332
662 Command Variations Slow Compared with
Reference Model 332
Appendix 6A Proof of Theorem 6 1 333
Appendix 6B Proof of Theorem 6 2 335
Appendix 6C Proof of Lemma 6 1 339
Appendix 6D Proof of Theorem 6 3 342
7 Case Studies 345
7 1 Direct Model Reference Adaptive Control of a PUMA
Manipulator 346
711 Introduction 346
712 Puma Model Development 346
713 Implementation Issues 349
714 Simulation Results 350
715 Experimental Results 354
716 Conclusions and Recommendations 360
7 2 Model Reference Adaptive Control of Large Structures 361
721 Introduction 361
722 Large Flexible Structures Dynamics 362
723 The ASPR Condition for Flexible Structures 365
724 Adaptive Control Algorithm 367
725 Experimental Set-Up 368
726 Experiment Results and Discussion 373
727 Summary and Conclusions 376
7 3 Adaptive Drug Delivery Control 377
731 Introduction 377
732 Problem Statement 378
733 Controller Design 379
734 Operation of the Complete Hierarchical Controller 384
735 Experimental Results 387
736 Conclusions 391
7 4 Adaptive Control for a Relaxed Static Stability Aircraft 394
741 Introduction 394
742 Model Development 394
Contents xvii
743 Control Law Development 396
744 Conclusions 400
7 5 Liquid Level System Emulation 401
751 Emulation Background and Instructions 401
752 System Background 401
753 Illustrative Example 405
References 409
Index 421
|
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
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| isbn | 0387948848 |
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| spelling | Kaufman, Howard Verfasser aut Direct adaptive control algorithms theory and applications Howard Kaufman ; Izhak Barkana ; Kenneth Sobel. Case studies contributed by David S. Bayard and Gregory W. Neat 2. ed. New York [u.a.] Springer 1998 XXVI, 424 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Communications and control engineering series Literaturverz. S. 409 - 419 Teoria de sistemas adaptativos larpcal Adaptive control systems Adaptivregelung (DE-588)4000457-0 gnd rswk-swf Kontrollsystem (DE-588)4126040-5 gnd rswk-swf Algorithmus (DE-588)4001183-5 gnd rswk-swf Adaptives System (DE-588)4247928-9 gnd rswk-swf Adaptivregelung (DE-588)4000457-0 s DE-604 Kontrollsystem (DE-588)4126040-5 s 1\p DE-604 Algorithmus (DE-588)4001183-5 s 2\p DE-604 Adaptives System (DE-588)4247928-9 s 3\p DE-604 Bar-Kana, Izhak Verfasser aut Sobel, Kenneth Verfasser aut HEBIS Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007941272&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk 2\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk 3\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Kaufman, Howard Bar-Kana, Izhak Sobel, Kenneth Direct adaptive control algorithms theory and applications Teoria de sistemas adaptativos larpcal Adaptive control systems Adaptivregelung (DE-588)4000457-0 gnd Kontrollsystem (DE-588)4126040-5 gnd Algorithmus (DE-588)4001183-5 gnd Adaptives System (DE-588)4247928-9 gnd |
| subject_GND | (DE-588)4000457-0 (DE-588)4126040-5 (DE-588)4001183-5 (DE-588)4247928-9 |
| title | Direct adaptive control algorithms theory and applications |
| title_auth | Direct adaptive control algorithms theory and applications |
| title_exact_search | Direct adaptive control algorithms theory and applications |
| title_full | Direct adaptive control algorithms theory and applications Howard Kaufman ; Izhak Barkana ; Kenneth Sobel. Case studies contributed by David S. Bayard and Gregory W. Neat |
| title_fullStr | Direct adaptive control algorithms theory and applications Howard Kaufman ; Izhak Barkana ; Kenneth Sobel. Case studies contributed by David S. Bayard and Gregory W. Neat |
| title_full_unstemmed | Direct adaptive control algorithms theory and applications Howard Kaufman ; Izhak Barkana ; Kenneth Sobel. Case studies contributed by David S. Bayard and Gregory W. Neat |
| title_short | Direct adaptive control algorithms |
| title_sort | direct adaptive control algorithms theory and applications |
| title_sub | theory and applications |
| topic | Teoria de sistemas adaptativos larpcal Adaptive control systems Adaptivregelung (DE-588)4000457-0 gnd Kontrollsystem (DE-588)4126040-5 gnd Algorithmus (DE-588)4001183-5 gnd Adaptives System (DE-588)4247928-9 gnd |
| topic_facet | Teoria de sistemas adaptativos Adaptive control systems Adaptivregelung Kontrollsystem Algorithmus Adaptives System |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007941272&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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