Adaptive control of nonsmooth dynamic systems:
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| Format: | Book |
|---|---|
| Language: | English |
| Published: |
London [u.a.]
Springer
2001
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XXI, 407 S. graph. Darst. |
| ISBN: | 1852333847 |
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MARC
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| 020 | |a 1852333847 |9 1-85233-384-7 | ||
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| 041 | 0 | |a eng | |
| 044 | |a gw |c DE | ||
| 049 | |a DE-703 |a DE-706 | ||
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| 082 | 0 | |a 629.8/36 |2 21 | |
| 084 | |a ZQ 5260 |0 (DE-625)158126: |2 rvk | ||
| 245 | 1 | 0 | |a Adaptive control of nonsmooth dynamic systems |c Gang Tao ... (ed.) |
| 264 | 1 | |a London [u.a.] |b Springer |c 2001 | |
| 300 | |a XXI, 407 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 650 | 4 | |a Adaptive control systems | |
| 650 | 4 | |a Dynamics | |
| 650 | 0 | 7 | |a Nichtlineares dynamisches System |0 (DE-588)4126142-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Adaptivregelung |0 (DE-588)4000457-0 |2 gnd |9 rswk-swf |
| 655 | 7 | |0 (DE-588)4143413-4 |a Aufsatzsammlung |2 gnd-content | |
| 689 | 0 | 0 | |a Nichtlineares dynamisches System |0 (DE-588)4126142-2 |D s |
| 689 | 0 | 1 | |a Adaptivregelung |0 (DE-588)4000457-0 |D s |
| 689 | 0 | |5 DE-604 | |
| 700 | 1 | |a Tao, Gang |d 1958- |e Sonstige |0 (DE-588)122673867 |4 oth | |
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| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-009390852 | |
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| _version_ | 1808046168615157760 |
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| adam_text |
CONTENTS
1.
NEW
MODELS
AND
IDENTIFICATION
METHODS
FOR
BACKLASH
AND
GEAR
PLAY
MATTIAS
NORDIN,
PER
BODIN
AND
PER-OLOF
GUTMAN
.
1
1.
INTRODUCTION
.
2
2.
BACKLASH
MODELS
.
2
2.1
PHYSICAL
MODEL
FOR
THE
SHAFT
TORQUE
T
.
2
2.2
PHASE
PLANE
BACKLASH
MODEL
.
6
2.3
THE
DEAD
ZONE
MODEL
.
8
2.4
MODEL
SIMULATION
COMPARISONS
.
9
3.
MODEL
FOR
BACKLASH
WITH
RUBBER
.
11
3.1
SHAFT
MODEL
FOR
BACKLASH
WITH
RUBBER
.
12
3.2
SIMULATIONS
AND
MEASUREMENTS:
BACKLASH
WITH
RUBBER
14
4.
DESCRIBING
FUNCTION
ANALYSIS
.
16
4.1
DIDF
CALCULATIONS
FOR
THE
PHASE
PLANE
MODEL
.
18
4.2
PHASE
PLANE
VS.
DEAD
ZONE
MODEL
.
19
5.
A
BACKLASH
GAP
ESTIMATION
METHOD
.
21
5.1
PRELIMINARIES
AND
ASSUMPTIONS
.
22
5.2
DESCRIBING
FUNCTION
ANALYSIS
FOR
IDENTIFICATION
.
23
5.3
THE
ESTIMATION
METHOD
.
25
5.4
SIMULATION
EXPERIMENTS
.
26
6.
CONCLUSIONS
.
28
REFERENCES
.
29
2.
ADAPTIVE
DEAD
ZONE
INVERSES
FOR
POSSIBLY
NONLINEAR
CONTROL
SYSTEMS
ER-WEI
BAI
.
31
1.
INTRODUCTION
.
31
X
CONTENTS
2.
PROBLEM
FORMULATION
.
33
3.
ADAPTIVE
DEAD
ZONE
INVERSE
.
34
4.
ADAPTIVE
DEAD
ZONE
INVERSE
FOR
LINEAR
CONTROL
SYSTEMS
.
42
4.1
WITH
KNOWN
G(S)
.
42
4.2
WITH
UNKNOWN
G(S)
.
45
5.
EXTENSION
TO
NONLINEAR
CONTROL
SYSTEMS
.
45
6.
CONCLUDING
REMARK
.
47
REFERENCES
.
47
3.
DEADZONE
COMPENSATION
IN
MOTION
CONTROL
SYSTEMS
USING
AUGMENTED
MULTILAYER
NEURAL
NETWORKS
RASTKO
R.
SELMIC
AND
FRANK
L.
LEWIS
.
49
1.
INTRODUCTION
.
50
2.
BACKGROUND
.
51
2.1
DYNAMICS
OF
MECHANICAL
MOTION
TRACKING
SYSTEMS
.
51
3.
NEURAL
NETWORKS
FOR
DEADZONE
COMPENSATION
.
52
3.1
BACKGROUND
ON
NEURAL
NETWORKS
.
53
3.2
NN
APPROXIMATION
OF
CONTINUOUS
FUNCTIONS
.
54
3.3
NN
APPROXIMATION
OF
JUMP
FUNCTIONS
.
55
3.4
STRUCTURE
OF
AUGMENTED
MULTILAYER
NN
.
59
3.5
SIMULATION
OF
THE
AUGMENTED
MULTILAYER
NN
.
60
4.
COMPENSATION
OF
DEADZONE
NONLINEARITY
.
61
4.1
DEADZONE
NONLINEARITY
.
61
4.2
NN
DEADZONE
PRECOMPENSATOR
.
62
5.
NN
CONTROLLER
WITH
DEADZONE
COMPENSATION
.
66
5.1
TRACKING
CONTROLLER
WITH
NN
DEADZONE
COMPENSATION
66
6.
SIMULATION
OF
NN
DEADZONE
COMPENSATOR
.
71
7.
CONCLUSIONS
.
77
8.
APPENDIX
.
78
REFERENCES
.
81
4.
ON-LINE
FAULT
DETECTION,
DIAGNOSIS,
ISOLATION
AND
ACCOMMO
DATION
OF
DYNAMICAL
SYSTEMS
WITH
ACTUATOR
FAILURES
MICHAEL
A.
DEMETRIOU
AND
MARIOS
M.
POLYCARPOU
.
85
CONTENTS
XI
1.
INTRODUCTION
.
85
2.
PROBLEM
FORMULATION
.
87
3.
ADAPTIVE
DIAGNOSTIC
OBSERVERS
.
89
3.1
PROPERTIES
AND
ANALYSIS
OF
DETECTION/DIAGNOSTIC
OB
SERVER
.
91
4.
FAULT
ACCOMMODATION
.
95
5.
SPECIAL
CASE:
VECTOR
SECOND-ORDER
SYSTEMS
.
96
6.
EXAMPLES
AND
NUMERICAL
RESULTS
.
102
7.
CONCLUSIONS
.
108
REFERENCES
.
108
5.
ADAPTIVE
CONTROL
OF
SYSTEMS
WITH
ACTUATOR
FAILURES
GANG
TAO
AND
SURESH
M.
JOSHI
.
ILL
1.
INTRODUCTION
.
ILL
2.
PROBLEM
STATEMENT
.
113
3.
PLANT-MODEL
STATE
MATCHING
CONTROL
.
115
3.1
BASIC
PLANT-MODEL
MATCHING
CONDITIONS
.
116
3.2
ACTUATOR
FAILURE
COMPENSATION
.
117
4.
ADAPTIVE
STATE
TRACKING
CONTROL
.
119
5.
COMPENSATION
DESIGNS
FOR
PARAMETRIZABLE
TIME-VARYING
FAIL
URES
123
5.1
PLANT-MODEL
MATCHING
CONTROL
DESIGN
.
124
5.2
ADAPTIVE
CONTROL
DESIGN
.
126
6.
COMPENSATION
DESIGNS
FOR
UNPARAMETRIZABLE
TIME-VARYING
FAILURES
.
128
6.1
STABILIZING
CONTROL
.
128
6.2
ADAPTIVE
CONTROL
DESIGN
.
131
7.
PLANT-MODEL
OUTPUT
MATCHING
CONTROL
.
133
7.1
STATE
FEEDBACK
DESIGNS
.
133
7.2
OUTPUT
FEEDBACK
DESIGN
.
142
8.
ADAPTIVE
OUTPUT
TRACKING
CONTROL
.
145
8.1
STATE
FEEDBACK
DESIGNS
.
145
8.2
OUTPUT
FEEDBACK
DESIGN
.
151
9.
CONCLUDING
REMARKS
.
153
REFERENCES
.
155
XII
CONTENTS
6.
MULTI-MODE
SYSTEM
IDENTIFICATION
ERIK
I.
VERRIEST
.
157
1.
INTRODUCTION
.
157
2.
SUBSPACE
IDENTIFICATION
DEGRADATION
.
160
2.1
TOTAL
LEAST
SQUARES
IDENTIFICATION
.
160
2.2
DEGRADATION
IN
BI-MODAL
SYSTEMS
.
162
3.
MULTI-MODE
ARMA
IDENTIFICATION
.
163
3.1
DETERMINATION
OF
THE
MODE
PARAMETERS
.
164
3.2
RESOLUTION
OF
THE
MODE
PARAMETERS
.
167
4.
MULTI-MODE
STATE
SPACE
IDENTIFICATION
.
172
4.1
MODE
TRANSITIONS
AND
TRANSITION
MODES
.
172
4.2
IDENTIFIABILITY
CANONICAL
FORM
.
174
4.3
PERFORMANCE
.
177
5.
MARKOV
CHAIN
AND
HYBRID
MODELING
.
177
5.1
HIDDEN
MARKOV
MODEL
IDENTIFICATION
.
179
5.2
HYBRID
SYSTEM
MODELING
.
183
6.
APPLICATIONS
.
184
6.1
ADAPTIVE
CONTROL
OF NONLINEAR
AND
NONSMOOTH
SYSTEMS
184
6.2
FAULT
DETECTION
AND
ISOLATION
.
185
7.
EXAMPLES
.
186
8.
CONCLUSIONS
.
187
REFERENCES
.
189
7.
ON
FEEDBACK
CONTROL
OF
PROCESSES
WITH
'
HARD
'
NONLINEARITIES
BERNARD
FRIEDLAND
.
191
1
INTRODUCTION
.
191
2
THE
STATE-DEPENDENT
ALGEBRAIC
RICCATI
EQUATION
METHOD
.
192
3
MODELING
HARD
NONLINEARITIES
.
193
4
CONTROLLING
SYSTEMS
WITH
STATE
VARIABLE
CONSTRAINTS
.
195
4.1
ILLUSTRATIVE
EXAMPLES
.
195
5
FRICTION
AND
BACKLASH
CONTROL
.
199
5.1
ILLUSTRATIVE
EXAMPLE
.
199
5.2
BACKLASH
CONTROL
.
205
6
CONCLUSIONS
.
208
REFERENCES
.
209
CONTENTS
XIII
8.
ADAPTIVE
FRICTION
COMPENSATION
FOR
SERVO
MECHANISMS
J.
WANG,
S.
S.
GE
AND
T.
H.
LEE
.
211
1.
INTRODUCTION
.
211
2.
FRICTION
MODELS
.
215
2.1
STATIC
MODELS
.
215
2.2
DYNAMIC
MODELS
.
220
3.
ADAPTIVE
FRICTION
COMPENSATION
.
222
3.1
PROBLEM
STATEMENT
.
222
3.2
STATIC
FYICTION
MODEL
BASED
ADAPTIVE
CONTROLLER
DESIGN222
3.3
LUGRE
FRICTION
MODEL
BASED
ADAPTIVE
CONTROLLER
DESIGN225
4.
SIMULATION
STUDIES
.
234
4.1
STATIC
MODEL
BASED
ADAPTIVE
CONTROL
.
234
4.2
DYNAMIC
LUGRE
FRICTION
MODEL
BASED
ADAPTIVE
CONTROL235
5.
CONCLUSION
.
246
REFERENCES
.
246
9.
RELAXED
CONTROLS
AND
A
CLASS
OF
ACTIVE
MATERIAL
ACTUATOR
MODELS
ANDREW
KURDILA
.
249
1.
INTRODUCTION
.
249
2.
THE
GOVERNING
DYNAMICAL
EQUATIONS
.
252
2.1
INFINITE
DIMENSIONAL
STRUCTURAL
SYSTEMS
.
253
2.2
THE
CONTROL
INFLUENCE
OPERATOR
.
255
2.3
EXISTENCE
AND
UNIQUENESS
OF
SOLUTIONS
.
258
3.
CONVERGENT
APPROXIMATIONS
.
261
3.1
FINITE
DIMENSIONAL
APPROXIMATION
.
261
3.2
APPROXIMATION
OF
HYSTERESIS
OPERATOR
.
264
REFERENCES
.
271
10.
ROBUST
ADAPTIVE
CONTROL
OF
NONLINEAR
SYSTEMS
WITH
DY
NAMIC
BACKLASH-LIKE
HYSTERESIS
CHUN
YI
SU,
MASAHIRO
OYA
AND
XINKAI
CHEN
.
273
1.
INTRODUCTION
.
273
2.
PROBLEM
STATEMENT
.
274
XIV
CONTENTS
3.
BACKLASH-LIKE
HYSTERESIS
MODEL
AND
ITS
PROPERTIES
.
275
4.
LYAPUNOV-BASED
CONTROL
STRUCTURE
.
276
5.
FUNCTION
APPROXIMATION
USING
GAUSSIAN
FUNCTIONS
.
278
6.
ADAPTIVE
CONTROLLER
DESIGN
.
280
7.
SIMULATION
STUDIES
.
283
8.
CONCLUSION
.
286
APPENDIX
.
286
REFERENCES
.
288
11.
ADAPTIVE
CONTROL
OF
A
CLASS
OF
TIME-DELAY
SYSTEMS
IN
THE
PRESENCE
OF
SATURATION
A.
M.
ANNASWAMY,
S.
EVESQUE,
S.-I.
NICULESCU
AND
A.
P.
DOWLING
289
1
INTRODUCTION
.
289
2
STATEMENT
OF
THE
PROBLEM
.
290
3
THE
CONTROLLER
IN
THE
PRESENCE
OF
SATURATION
.
291
3.1
A
FIRST-ORDER
PLANT
.
292
3.2
OUTPUT
FEEDBACK
WITH
N*
=
1
.
293
3.3
OUTPUT
FEEDBACK
WITH
N*
=
2
.
296
3.4
A
LOW
ORDER
ADAPTIVE
CONTROLLER
.
297
4
THE
ADAPTIVE
CONTROLLER
IN
THE
PRESENCE
OF
A
DELAY
.
298
4.1
THE
CONTROLLER
WITHOUT
SATURATION
CONSTRAINTS
.
298
4.2
THE
CONTROLLER
IN
THE
PRESENCE
OF
SATURATION
AND
TIME-DELAY
.
302
5
SIMULATION
RESULTS
.
305
6
SUMMARY
.
308
REFERENCES
.
310
12.
ADAPTIVE
CONTROL
FOR
SYSTEMS
WITH
INPUT
CONSTRAINTS
-
A
SURVEY
J.-W.
JOHN
CHENG
AND
YI-MING
WANG
.
311
1.
INTRODUCTION
.
311
2.
HISTORY
OF
THE
CONSTRAINED
CONTROL
THEORY
.
312
2.1
EXISTENCE
OF
STABILIZING
MAGNITUDE
CONSTRAINED
CONTROL312
2.2
DESIGNS
OF
EFFECTIVE
MAGNITUDE
CONSTRAINED
CONTROL
.
313
CONTENTS
XV
3.
ADAPTIVE
CONSTRAINED
CONTROL
.
316
3.1
ADAPTIVE
CONTROL
DESIGNS
WITH
INPUT
MAGNITUDE
CON
STRAINT
.
317
3.2
ADAPTIVE
CONTROL
DESIGN
WITH
INPUT
MAGNITUDE
AND
RATE
CONSTRAINTS
.
323
4.
CONCLUSIONS
.
328
REFERENCES
.
329
13.
ROBUST
ADAPTIVE
CONTROL
OF
INPUT
RATE
CONSTRAINED
DIS
CRETE
TIME
SYSTEMS
GANG
FENG
.
333
1.
INTRODUCTION
.
333
2.
RATE
CONSTRAINED
POLE
PLACEMENT
ADAPTIVE
CONTROL
.
334
2.1
PLANT
MODEL
.
334
2.2
POLE
PLACEMENT
CONTROL
.
335
2.3
RATE
CONSTRAINED
POLE
PLACEMENT
ADAPTIVE
CONTROL
.
336
3.
STABILITY
ANALYSIS
.
341
4.
A
SIMULATION
EXAMPLE
.
344
5.
CONCLUSIONS
.
347
REFERENCES
.
347
14.
ADAPTIVE
CONTROL
OF
LINEAR
SYSTEMS
WITH
POLES
IN
THE
CLOSED
LHP
WITH
CONSTRAINED
INPUTS
DIONISIO
A.
SUAREZ-CERDA
AND
ROGELIO
LOZANO
.
349
1.
INTRODUCTION
.
349
2.
CONTROL
OF SYSTEMS
WITH
CONSTRAINED
INPUTS
.
351
2.1
PLANTS
WITH
NO
POLES
AT
THE
ORIGIN
.
351
2.2
DOUBLE
INTEGRATOR
.
352
2.3
PLANT
WITH
AN
INTEGRATOR
AND
A
STABLE
POLE
.
353
3.
ADAPTIVE
CONTROL
OF
SECOND-ORDER
PLANTS
WITH
CONSTRAINED
INPUT
.
354
3.1
PLANT
PARAMETER
IDENTIFICATION
.
354
3.2
ADAPTIVE
STATE
OBSERVATION
.
355
4.
SIMULATIONS
RESULTS
.
356
XVI
CONTENTS
5.
CONCLUSIONS
.
358
REFERENCES
.
359
15.
ADAPTIVE
CONTROL
WITH
INPUT
SATURATION
CONSTRAINTS
CISHEN
ZHANG
.
361
1.
INTRODUCTION
.
361
2.
AMPLITUDE
CONSTRAINED
DIRECT
ADAPTIVE
CONTROL
.
362
3.
STABILITY
OF
AMPLITUDE
CONSTRAINED
ADAPTIVE
CONTROL
SYSTEMS
366
4.
AMPLITUDE
CONSTRAINED
ADAPTIVE
CONTROL
OF
TYPE-1
PLANTS
.
370
5.
RATE
CONSTRAINED
DIRECT
ADAPTIVE
CONTROL
.
373
6.
STABILITY
OF
RATE
CONSTRAINED
DIRECT
ADAPTIVE
CONTROL
SYSTEMS374
7.
RATE
CONSTRAINED
ADAPTIVE
CONTROL
OF
STABLE
PLANTS
.
379
8.
CONCLUSION
.
380
REFERENCES
.
380
16.
ADAPTIVE
CONTROL
OF
LINEAR
SYSTEMS
WITH
UNKNOWN
TIME
DELAY
CHANGYUN
WEN,
YENG
CHAI
SOH
AND
YING
ZHANG
.
383
1.
INTRODUCTION
.
383
2.
SYSTEM
MODELS
.
384
3.
ADAPTIVE
CONTROL
SCHEME
.
388
3.1
PARAMETER
ESTIMATOR
.
389
3.2
CONTROL
LAW
SYNTHESIS
.
391
4.
STABILITY
ANALYSIS
.
392
5.
CONCLUSION
.
400
REFERENCES
.
400
INDEX
.
403 |
| any_adam_object | 1 |
| author_GND | (DE-588)122673867 |
| building | Verbundindex |
| bvnumber | BV013738482 |
| callnumber-first | T - Technology |
| callnumber-label | TJ217 |
| callnumber-raw | TJ217 |
| callnumber-search | TJ217 |
| callnumber-sort | TJ 3217 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ZQ 5260 |
| ctrlnum | (OCoLC)45917131 (DE-599)BVBBV013738482 |
| dewey-full | 629.8/36 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8/36 |
| dewey-search | 629.8/36 |
| dewey-sort | 3629.8 236 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| genre | (DE-588)4143413-4 Aufsatzsammlung gnd-content |
| genre_facet | Aufsatzsammlung |
| id | DE-604.BV013738482 |
| illustrated | Illustrated |
| indexdate | 2024-08-22T00:39:52Z |
| institution | BVB |
| isbn | 1852333847 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-009390852 |
| oclc_num | 45917131 |
| open_access_boolean | |
| owner | DE-703 DE-706 |
| owner_facet | DE-703 DE-706 |
| physical | XXI, 407 S. graph. Darst. |
| publishDate | 2001 |
| publishDateSearch | 2001 |
| publishDateSort | 2001 |
| publisher | Springer |
| record_format | marc |
| spelling | Adaptive control of nonsmooth dynamic systems Gang Tao ... (ed.) London [u.a.] Springer 2001 XXI, 407 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Adaptive control systems Dynamics Nichtlineares dynamisches System (DE-588)4126142-2 gnd rswk-swf Adaptivregelung (DE-588)4000457-0 gnd rswk-swf (DE-588)4143413-4 Aufsatzsammlung gnd-content Nichtlineares dynamisches System (DE-588)4126142-2 s Adaptivregelung (DE-588)4000457-0 s DE-604 Tao, Gang 1958- Sonstige (DE-588)122673867 oth DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009390852&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Adaptive control of nonsmooth dynamic systems Adaptive control systems Dynamics Nichtlineares dynamisches System (DE-588)4126142-2 gnd Adaptivregelung (DE-588)4000457-0 gnd |
| subject_GND | (DE-588)4126142-2 (DE-588)4000457-0 (DE-588)4143413-4 |
| title | Adaptive control of nonsmooth dynamic systems |
| title_auth | Adaptive control of nonsmooth dynamic systems |
| title_exact_search | Adaptive control of nonsmooth dynamic systems |
| title_full | Adaptive control of nonsmooth dynamic systems Gang Tao ... (ed.) |
| title_fullStr | Adaptive control of nonsmooth dynamic systems Gang Tao ... (ed.) |
| title_full_unstemmed | Adaptive control of nonsmooth dynamic systems Gang Tao ... (ed.) |
| title_short | Adaptive control of nonsmooth dynamic systems |
| title_sort | adaptive control of nonsmooth dynamic systems |
| topic | Adaptive control systems Dynamics Nichtlineares dynamisches System (DE-588)4126142-2 gnd Adaptivregelung (DE-588)4000457-0 gnd |
| topic_facet | Adaptive control systems Dynamics Nichtlineares dynamisches System Adaptivregelung Aufsatzsammlung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009390852&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT taogang adaptivecontrolofnonsmoothdynamicsystems |