Robust and adaptive control with aerospace applications:
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
London [u.a.]
Springer
2013
|
| Series: | Advanced textbooks in control and signal processing
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XVII, 454 S. graph. Darst. 24 cm |
| ISBN: | 9781447143956 |
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Record in the Search Index
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| adam_text | Titel: Robust and adaptive control with aerospace applications
Autor: Lavretsky, Eugene
Jahr: 2013
Contents
Part I Robust Control
1 Introduction.......................................... 3
1.1 Why Robust and Adaptive Control?...................... 3
1.2 About This Book................................... 4
1.3 Aircraft Flight Dynamics Equations of Motion.............. 5
1.4 Simplified Flight Dynamics for Control Design............. 10
1.4.1 Longitudinal Dynamics......................... 12
1.4.2 Lateral-Directional Dynamics.................... 14
1.4.3 Model Generalizations for Adaptive Control Design.... 16
1.5 Control-Oriented Models for Linear-Time-Invariant Systems . . . 18
1.6 Norms of Vectors and Matrices in Euclidean Spaces......... 21
1.7 Summary......................................... 23
1.8 Exercises......................................... 24
References............................................ 25
2 Optimal Control and the Linear Quadratic Regulator.......... 27
2.1 Introduction....................................... 27
2.2 Optimal Control and the Hamilton-Jacobi-Bellman
Equation......................................... 28
2.2.1 The Hamilton-Jacobi-Bellman Equation............ 29
2.2.2 Summary................................... 33
2.3 Linear Quadratic Regulator............................ 35
2.3.1 Summary................................... 37
2.4 Infinite-Time LQR Problem........................... 37
2.4.1 Summary................................... 39
2.5 Guaranteed Stability Margins for State Feedback LQR........ 42
2.6 LQR Design and Asymptotic Properties................... 44
2.7 Conclusions....................................... 47
2.8 Exercises......................................... 48
References............... ............................. 50
Contents
Command Tracking and the Robust Servomechanism.......... 51
3.1 Introduction....................................... 51
3.2 The Servomechanism Design Model..................... 52
3.2.1 Controllability of the Servomechanism
Design Model................................ 56
3.3 The Robust Servomechanism LQR...................... 58
3.3.1 Summary................................... 62
3.4 Conclusions....................................... 71
3.5 Exercises......................................... 71
References............................................ 72
State Feedback Hx Optimal Control....................... 73
4.1 Introduction....................................... 73
4.2 Norms for Signals and Systems......................... 75
4.2.1 Power Signals................................ 75
4.2.2 Norms for Systems............................ 76
4.2.3 Computing Norms for Systems.................... 78
4.2.4 Well-Posedness and Stability..................... 79
4.3 Stability and Performance Specifications
in the Frequency Domain.............................
4.4 Loop Shaping Using Frequency-Dependent Weights.........
4.5 State Feedback H^ Optimal Control..................... 85
4.6 Controller Design Using -/-Iteration......................
4.6.1 Summary...................................
4.7 Conclusions.......................................
4.8 Exercises.........................................
References............................................
Frequency Domain Analysis..............................
5.1 Introduction.......................................
5.2 Transfer Functions and Transfer Function Matrices..........
5.3 Multivariable Stability Margins.........................
5.3.1 Singular Values...............................
5.3.2 Singular Value Properties........................
5.3.3 Multivariable Nyquist Theory.....................
5.3.4 Stability Margins for Multi-Input Multi-Output
Systems.................................... I2
5.3.5 A + B Argument.............................. U5
1 1 Q
5.3.6 Singular Value Stability Margins.................. u
5.4 Control System Robustness Analysis..................... l
5.4.1 Analysis Models for Uncertain Systems............. l2
5.4.2 Singular Value Robustness Tests..................
5.4.3 Real Stability Margin........................... l43
5.5 Conclusions.......................................
5.6 Exercises......................................... !^°
References......... .......... 60
Contents xv
6 Output Feedback Control................................ 161
6.1 Output Feedback Using Projective Controls................ 161
6.2 Linear Quadratic Gaussian with Loop Transfer
Recovery......................................... 176
6.2.1 Summary................................... 180
6.3 Loop Transfer Recovery Using the Lavretsky Method........ 190
6.3.1 Summary................................... 195
6.4 Conclusions....................................... 205
6.5 Exercises......................................... 205
References............................................ 207
Part II Robust Adaptive Control
7 Direct Model Reference Adaptive Control: Motivation
and Introduction....................................... 211
7.1 Model Reference Control: Motivational Example............ 211
7.2 Introduction to Direct Model Reference Adaptive
Control.......................................... 215
7.3 Direct Model Reference Adaptive Control of Scalar Linear
Systems with Parametric Uncertainties................... 220
7.4 Historical Roots and Foundations of Model Reference
Adaptive Control................................... 221
7.5 Exercises......................................... 222
References............................................ 223
8 Lyapunov Stability of Motion............................. 225
8.1 Dynamical Systems................................. 225
8.2 Existence and Uniqueness of Solutions................... 227
8.3 System Equilibrium................................. 233
8.4 Lyapunov Stability Definitions......................... 235
8.5 Lyapunov Stability Theorems.......................... 240
8.6 Uniform Ultimate Boundedness......................... 247
8.7 Barbalat s Lemma.................................. 254
8.8 Summary and Historical Remarks....................... 259
8.9 Exercises......................................... 259
References............................................ 261
9 State Feedback Direct Model Reference Adaptive Control....... 263
9.1 Introduction....................................... 263
9.2 Command Tracking................................. 264
9.3 Direct MRAC Design for Scalar Systems.................. 265
9.4 Dynamic Inversion MRAC Design for Scalar Systems........ 274
9.5 MRAC Design for Multi-Input Multi-Output Systems........ 281
9.6 Summary......................................... 291
9.7 Exercises......................................... 291
References............................................ 292
xvi Contents
10 Model Reference Adaptive Control with Integral Feedback
Connections.......................................... 293
10.1 Introduction...................................... 293
10.2 Control Design.................................... 295
10.3 MRAC Augmentation of an Optimal Baseline Controller..... 303
10.4 Summary........................................ 314
10.5 Exercises........................................ 314
References............................................ 315
11 Robust Adaptive Control................................ 317
11.1 MRAC Design in the Presence of Bounded Disturbances..... 317
11.2 MRAC Design Modifications for Robustness.............. 319
11.2.1 The Dead-Zone Modification................... 319
11.2.2 The (T-Modification.......................... 323
11.3 The e-Modification................................. 327
11.4 The Projection Operator............................. 329
11.5 Projection-Based MRAC Design....................... 337
11.6 Summary and Discussions............................ 350
11.7 Exercises........................................ 351
References............................................ 352
12 Approximation-Based Adaptive Control..................... 355
12.1 Motivation....................................... 355
12.2 Basic Definitions.................................. 356
12.3 Approximation Properties of Feedforward
Neural Networks................................... 360
12.4 Adaptive Control with State Limiting Constraints........... 362
12.5 Summary........................................ 383
12.6 Exercises........................................ 384
References............................................ 385
13 Adaptive Control with Improved Transient Dynamics.......... 387
13.1 Motivation....................................... 387
13.2 Asymptotic Orders and Singular Perturbations............. 394
13.3 Asymptotic Properties of the Algebraic Riccati Equation..... 399
13.4 System Dynamics and Control Problem Formulation........ 406
13.5 Observer-Like Model Reference Adaptive Control.......... 408
13.6 Transient Dynamics Analysis......................... 412
13.7 Summary........................................ 415
13.8 Exercises........................................ 416
References............................................ 416
14 Robust and Adaptive Control with Output Feedback........... 417
14.1 Introduction...................................... 417
14.2 Mathematical PTreliminaries........................... 419
14.3 System Dynamics and Control Problem Formulation........ 421
Contents xvii
14.4 Adaptive Output Feedback Design and Analysis............ 424
14.5 Adaptive Flight Control of a Flexible Transport Aircraft...... 435
14.6 Conclusions...................................... 447
14.7 Exercises........................................ 448
References............................................ 449
Index................................................... 451
|
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| author | Lavretsky, Eugene Wise, Kevin A. |
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| dewey-search | 629.8312 |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik Verkehrstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| language | English |
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| physical | XVII, 454 S. graph. Darst. 24 cm |
| publishDate | 2013 |
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| publisher | Springer |
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| series2 | Advanced textbooks in control and signal processing |
| spelling | Lavretsky, Eugene Verfasser (DE-588)1028659032 aut Robust and adaptive control with aerospace applications Eugene Lavretsky ; Kevin A. Wise London [u.a.] Springer 2013 XVII, 454 S. graph. Darst. 24 cm txt rdacontent n rdamedia nc rdacarrier Advanced textbooks in control and signal processing Adaptivregelung (DE-588)4000457-0 gnd rswk-swf Robuste Regelung (DE-588)4206985-3 gnd rswk-swf Luftfahrttechnik (DE-588)4168244-0 gnd rswk-swf Robust control Adaptive control systems Robuste Regelung (DE-588)4206985-3 s Luftfahrttechnik (DE-588)4168244-0 s DE-604 Adaptivregelung (DE-588)4000457-0 s Wise, Kevin A. Verfasser (DE-588)1028659229 aut Erscheint auch als Online-Ausgabe Lavretsky, Eugene Robust and Adaptive Control HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026189485&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Lavretsky, Eugene Wise, Kevin A. Robust and adaptive control with aerospace applications Adaptivregelung (DE-588)4000457-0 gnd Robuste Regelung (DE-588)4206985-3 gnd Luftfahrttechnik (DE-588)4168244-0 gnd |
| subject_GND | (DE-588)4000457-0 (DE-588)4206985-3 (DE-588)4168244-0 |
| title | Robust and adaptive control with aerospace applications |
| title_auth | Robust and adaptive control with aerospace applications |
| title_exact_search | Robust and adaptive control with aerospace applications |
| title_full | Robust and adaptive control with aerospace applications Eugene Lavretsky ; Kevin A. Wise |
| title_fullStr | Robust and adaptive control with aerospace applications Eugene Lavretsky ; Kevin A. Wise |
| title_full_unstemmed | Robust and adaptive control with aerospace applications Eugene Lavretsky ; Kevin A. Wise |
| title_short | Robust and adaptive control with aerospace applications |
| title_sort | robust and adaptive control with aerospace applications |
| topic | Adaptivregelung (DE-588)4000457-0 gnd Robuste Regelung (DE-588)4206985-3 gnd Luftfahrttechnik (DE-588)4168244-0 gnd |
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