Nonlinear and adaptive control with applications:
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| Main Authors: | , , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
London
Springer
2010
|
| Edition: | [pbk ed.] |
| Series: | Communications and control engineering
|
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XVI, 290 S. Ill., graph. Darst. 235 mm x 155 mm, 463 g |
| ISBN: | 9781849967198 1849967199 |
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MARC
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| 245 | 1 | 0 | |a Nonlinear and adaptive control with applications |c Alessandro Astolfi ; Dimitrios Karagiannis ; Romeo Ortega |
| 250 | |a [pbk ed.] | ||
| 264 | 1 | |a London |b Springer |c 2010 | |
| 300 | |a XVI, 290 S. |b Ill., graph. Darst. |c 235 mm x 155 mm, 463 g | ||
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Record in the Search Index
| _version_ | 1806330268111339520 |
|---|---|
| adam_text |
Contents
Notation. xv
1
Introduction
. 1
1.1 An I&I
Perspective
of Stabilisation
. 2
1.2
Discussion and Literature Review
. 4
1.3
Applications of XL·!
.,.,.,.,,,.,.
б
1.3.1
Robustifìcation
of Control Laws
. 6
1.3.2
Underactuated Mechanical 03'stems
. 9
1.3.3
Systems in Special Forms
., 9
1.3.4
Adaptive Control
. 11
1.3.5
Observer Design
. 12
1.3.6
Nonlinear PI Control
. 13
2
I&I Stabilisation
. 15
2.1
Main Stabilisation Result
. 15
2.2
Systems with Special Structures
. 19
2.3
Physical Systems
. 24
3
IL·!
Adaptive Control: Tools and Examples
. 33
3.1
Introduction
. 33
3.2
An Introductory Example
. 35
3.3
Revisiting Classical Adaptive Control
.,,.,,,,. 38
3.3.1
Direct Cancellation with Matching
,.,.,.,.,.,, 38
3.3.2
Direct Cancellation with Extended Matching.
, . ,. 39
3.3.3
Direct Domination,
. 40
3.3.4
Indirect Approach
.,.,,.,.,.,,,.,.,. 40
3.3.
b
Discussion
.,.,.,., 40
3.4
Linearly Parameterised Plant
. 42·
3.5
Linearly Parameterised Control
.,.,,. 4'
í
3.6
Example: "Visual Servoing
. 49
xii Contents
4
ÎL·! Adaptive Control: Systems in Special
Forms
. 55
4.1
Introduction.
55
4.2
Systems
in Feedback Form.
57
4.2.1
Adaptive Control
Design
. 58
4.2.2
As3onptotic
Properties of
Adaptive
Controllers
. 59
4.2.3
Unknown
Control
Gain .
61
4.2.4
Unmatched Uncertainties
. 63
4.3
Lower Triangular Systems
. 67
4.3.1
Estimator Design
. 68
4.3.2
Controller Design
. 70
4.3.3
Estimator Design using Dynamic Scaling
. 74
4.4
Linear Systems
. 78
4.4.1
Linear
SISO
Systems
. 79
4.4.2
Linear
Multivariable
Systems
. 81
5
Nonlinear Observer Design.
. ,.,. 91
5.1
Introduction
. 92
5.2
Reduced-order Observers
. 93
5.3
Systems with
Monotonie
Nonlmearities Appearing in the
Output Equation
.100
5.4
Mechanical Systems with Two Degrees of Freedom
.107
5.4.1
Model Description
.107
5.4.2
Observer Design
.108
5.4.3
Non-diagonal Inertia Matrix with Bounded Entries
. 110
5.4.4
Diagonal Inertia Matrix
.
Ill
5.5
Example: Ball and Beam
.112
6
Robust Stabilisation via Output Feedback
.115
6.1
Introduction
.116
6.2
Linearly Parameterised Systems
.117
6.3
Control Design Using a Separation Principle
.121
6.4
Systems with
Monotonie
Nonlinearities Appearing in the
Output Equation
.124
6.5
Systems in Output Feedback Form
.129
6.6
Robust Output Feedback Stabilisation
.133
6.6.1
Robust Observer Design
.135
6.6.2
Stabilisation via a Small-gain Condition
., , . 136
6.6.3
Systems Without Zero Dynamics
.140
6.6.4
Systems with IS
S
Zero Dynamics
.141
6.6.5
Unperturbed Systems
.,,.,.,.,. 141
6.6.6
Linear Nonminimum·-phase Systems
. 142
6.7
Example: Transnational Oscillator/Rotational Actuator
.145
Contents xiii
7
Nonlinear PI Control of Uncertain Systems
.151
7.1
Introduction
.151
7.2
Control Design
.154
7.2.1
Bounded Uncertainty
.154
7.2.2
Comparison with Adaptive Control
.157
7.2.3
Extensions
.157
7.2.4
Unbounded Uncertainty
.159
7.3
Unknown Control Direction
.161
7.3.1
State Feedback
.161
7.3.2
Observer-based Design
.164
7.3.3
Robustness
. 165
7.4
Example: Visual Servoing
.167
8
Electrical Systems
.173
8.1
Power Flow Control Using TCSC
. 173
8.1.1
Problem Formulation
.,. 174
8.1.2
Modified Model of the TCSC
.175
8.1.3
Controller Design.
., 176
8.1.4
Simulation Results
, ,.,,,.,,.,.,,, 178
8.2
Partial State Feedback Control of the DC-DC
Ćuk
Converter
. 179
8.2.1
Problem Formulation
. 181
8.2.2
Full·-information Controller
. . 182
8.2.3
I&I Adaptive Observer
.184
8.2.4
Partial State feedback Controller
.186
8.2.5
Simulation Results
.188
8.3
Output Feedback Control of the DC-DC Boost Converter
. 189
8.3.1
Problem Formulation
.192
8.3.2
Full-information Controller
.193
8.3.3
Output Feedback Controller
.194
8.3.4
Experimental Results
.,.197
8.3.5
A Remark on Robustness
.198
8.4
Adaptive Control of the Power Factor Precompensator
.200
8.4.1
Problem Formulation
.201
8.4.2
Full-information Controllers
.203
8.4.3
I&I Adaptation
. 205
8.4.4
Experimental Results
. 207
9
Mechanical Systems
.
Я.П
9.1
Control of Flexible
Joints
Robots
., . , . , 9,11
9.1.1
Control Design
. 213
9.1.2
A
2
DOF
Flexible
Joints
Robot
. 9,16
9.1.3
A 3-DOF Flexible Joints Robot
. 217
9.2
Position-feedback Control of a Two-.link Manipulator,
. 9,18
9.2.1
Observer Design
.219
9.2.2
State Feedback Controller
.220
xiv Contents
9.2.3 Output Feedback Design.222
9.2.4 Simulation
Results
.223
9.3
Adaptive Attitude Control of a Rigid Body
.226
9.3.1
Model Description
.226
9.3.2
Controller Design
.227
9.3.3
Estimator Design
.228
9.3.4
Simulation Results
.229
9.4
Trajectory Tracking for Autonomous Aerial Vehicles
.229
9.4.1
Model Description
.230
9.4.2
Controller Design
.231
9.4.3
Airspeed Regulation
. 233
9.4.4
Simulation Results
.234
10
Electromechanical Systems
.237
10.1
Observer Design for Single-machine Infinite-bus Systems
.237
10.1.1
Model Description
.238
10.1.2
Controller Design
.239
10.1.3
Observer Design
.239
10.1.4
Simulation Results
.241
10.2
Adaptive Control of Current fed Induction Motors
.243
10.2.1
Problem Formulation
.244
10.2.2
Estimator Design
.246
10.2.3
Rotor Flux Estimation
.247
10.2.4
Controller Design
.248
10.2.5
Simulation Results
.249
10.3
Speed/Flux Tracking for Voltage-fed Induction Motors
.252
10.3.1
Problem Formulation
.252
10.3.2
Nonlinear Control Design
.254
10.3.3
Adaptive Control Design
.258
10.3.4
Simulations and Experimental Results
.262
A Background Material
.269
A.I Lyapunov Stability and Convergence
.269
A.
2
Input-to-state Stability
.271
A.3 Invariant Manifolds and System Immersion
.273
References
.275
Index
.289 |
| any_adam_object | 1 |
| author | Astolfi, Alessandro 1967- Karagiannis, Dimitris 1956- Ortega, Romeo 1954- |
| author_GND | (DE-588)132630656 (DE-588)111433738 (DE-588)120106574 |
| author_facet | Astolfi, Alessandro 1967- Karagiannis, Dimitris 1956- Ortega, Romeo 1954- |
| author_role | aut aut aut |
| author_sort | Astolfi, Alessandro 1967- |
| author_variant | a a aa d k dk r o ro |
| building | Verbundindex |
| bvnumber | BV042293318 |
| classification_rvk | SK 880 |
| ctrlnum | (OCoLC)903376994 (DE-599)DNB1008414778 |
| discipline | Mathematik |
| edition | [pbk ed.] |
| format | Book |
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| isbn | 9781849967198 1849967199 |
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| spelling | Astolfi, Alessandro 1967- Verfasser (DE-588)132630656 aut Nonlinear and adaptive control with applications Alessandro Astolfi ; Dimitrios Karagiannis ; Romeo Ortega [pbk ed.] London Springer 2010 XVI, 290 S. Ill., graph. Darst. 235 mm x 155 mm, 463 g txt rdacontent n rdamedia nc rdacarrier Communications and control engineering Nichtlineare Regelung (DE-588)4132964-8 gnd rswk-swf Adaptivregelung (DE-588)4000457-0 gnd rswk-swf Nichtlineare Regelung (DE-588)4132964-8 s Adaptivregelung (DE-588)4000457-0 s DE-604 Karagiannis, Dimitris 1956- Verfasser (DE-588)111433738 aut Ortega, Romeo 1954- Verfasser (DE-588)120106574 aut text/html http://deposit.dnb.de/cgi-bin/dokserv?id=3597977&prov=M&dok_var=1&dok_ext=htm Inhaltstext Digitalisierung UB Passau - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027730436&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Astolfi, Alessandro 1967- Karagiannis, Dimitris 1956- Ortega, Romeo 1954- Nonlinear and adaptive control with applications Nichtlineare Regelung (DE-588)4132964-8 gnd Adaptivregelung (DE-588)4000457-0 gnd |
| subject_GND | (DE-588)4132964-8 (DE-588)4000457-0 |
| title | Nonlinear and adaptive control with applications |
| title_auth | Nonlinear and adaptive control with applications |
| title_exact_search | Nonlinear and adaptive control with applications |
| title_full | Nonlinear and adaptive control with applications Alessandro Astolfi ; Dimitrios Karagiannis ; Romeo Ortega |
| title_fullStr | Nonlinear and adaptive control with applications Alessandro Astolfi ; Dimitrios Karagiannis ; Romeo Ortega |
| title_full_unstemmed | Nonlinear and adaptive control with applications Alessandro Astolfi ; Dimitrios Karagiannis ; Romeo Ortega |
| title_short | Nonlinear and adaptive control with applications |
| title_sort | nonlinear and adaptive control with applications |
| topic | Nichtlineare Regelung (DE-588)4132964-8 gnd Adaptivregelung (DE-588)4000457-0 gnd |
| topic_facet | Nichtlineare Regelung Adaptivregelung |
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