Adaptive Backstepping Control of Uncertain Systems

Adaptive Backstepping Control of Uncertain Systems
Title Adaptive Backstepping Control of Uncertain Systems PDF eBook
Author Jing Zhou
Publisher Springer Science & Business Media
Pages 246
Release 2008-02-07
Genre Technology & Engineering
ISBN 3540778063

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This book employs the powerful and popular adaptive backstepping control technology to design controllers for dynamic uncertain systems with non-smooth nonlinearities. Various cases including systems with time-varying parameters, multi-inputs and multi-outputs, backlash, dead-zone, hysteresis and saturation are considered in design and analysis. For multi-inputs and multi-outputs systems, both centralized and decentralized controls are addressed. This book not only presents recent research results including theoretical success and practical development such as the proof of system stability and the improvement of system tracking and transient performance, but also gives self-contained coverage of fundamentals on the backstepping approach illustrated with simple examples. Detail description of methodologies for the construction of adaptive laws, feedback control laws and associated Lyapunov functions is systematically provided in each case. Approaches used for the analysis of system stability and tracking and transient performances are elaborated. Two case studies are presented to show how the presented theories are applied.

Adaptive Control of Systems with Actuator and Sensor Nonlinearities

Adaptive Control of Systems with Actuator and Sensor Nonlinearities
Title Adaptive Control of Systems with Actuator and Sensor Nonlinearities PDF eBook
Author Gang Tao
Publisher Wiley-Interscience
Pages 320
Release 1996-05-23
Genre Mathematics
ISBN

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The authors present an effective approach to handle some of the most common types of component imperfections encountered in industrial automation, consumer electroncis, and defence and transportation systems.

Adaptive Control of Nonsmooth Dynamic Systems

Adaptive Control of Nonsmooth Dynamic Systems
Title Adaptive Control of Nonsmooth Dynamic Systems PDF eBook
Author Gang Tao
Publisher Springer Science & Business Media
Pages 425
Release 2013-04-17
Genre Technology & Engineering
ISBN 144713687X

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Many of the non-smooth, non-linear phenomena covered in this well-balanced book are of vital importance in almost any field of engineering. Contributors from all over the world ensure that no one area’s slant on the subjects predominates.

Adaptive Control of Nonsmooth Dynamic Systems

Adaptive Control of Nonsmooth Dynamic Systems
Title Adaptive Control of Nonsmooth Dynamic Systems PDF eBook
Author Gang Tao
Publisher Springer Science & Business Media
Pages 430
Release 2001-09-26
Genre Technology & Engineering
ISBN 9781852333843

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Many of the non-smooth, non-linear phenomena covered in this well-balanced book are of vital importance in almost any field of engineering. Contributors from all over the world ensure that no one area’s slant on the subjects predominates.

Adaptive Backstepping Control of Uncertain Systems with Actuator Failures, Subsystem Interactions, and Nonsmooth Nonlinearities

Adaptive Backstepping Control of Uncertain Systems with Actuator Failures, Subsystem Interactions, and Nonsmooth Nonlinearities
Title Adaptive Backstepping Control of Uncertain Systems with Actuator Failures, Subsystem Interactions, and Nonsmooth Nonlinearities PDF eBook
Author Wei Wang
Publisher CRC Press
Pages 287
Release 2017-09-18
Genre Computers
ISBN 1498776442

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In practice, actuators often undergo failures and various factors influence its effectiveness. Also due to the increasing complexity of large-scale systems, subsystems are often interconnected, whereas the interactions between any two subsystems are difficult to deal with. This book details a series of new methodologies of designing and analyzing adaptive backstepping control systems involving treatment on actuator failures, subsystem interactions and nonsmooth nonlinearities. Moreover, it discusses some interesting open issues in adaptive failure accommodation, decentralized adaptive control and distributed adaptive coordinated control.

Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics

Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics
Title Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics PDF eBook
Author Jing Na
Publisher Academic Press
Pages 338
Release 2018-06-12
Genre Technology & Engineering
ISBN 0128136847

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Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics reports some of the latest research on modeling, identification and adaptive control for systems with nonsmooth dynamics (e.g., backlash, dead zone, friction, saturation, etc). The authors present recent research results for the modelling and control designs of uncertain systems with nonsmooth dynamics, such as friction, dead-zone, saturation and hysteresis, etc., with particular applications in servo systems. The book is organized into 19 chapters, distributed in five parts concerning the four types of nonsmooth characteristics, namely friction, dead-zone, saturation and hysteresis, respectively. Practical experiments are also included to validate and exemplify the proposed approaches. This valuable resource can help both researchers and practitioners to learn and understand nonlinear adaptive control designs. Academics, engineers and graduate students in the fields of electrical engineering, control systems, mechanical engineering, applied mathematics and computer science can benefit from the book. It can be also used as a reference book on adaptive control for servo systems for students with some background in control engineering. - Explains the latest research outputs on modeling, identification and adaptive control for systems with nonsmooth dynamics - Provides practical application and experimental results for robotic systems, and servo motors

Nonlinear Control of Vehicles and Robots

Nonlinear Control of Vehicles and Robots
Title Nonlinear Control of Vehicles and Robots PDF eBook
Author Béla Lantos
Publisher Springer Science & Business Media
Pages 479
Release 2010-12-01
Genre Technology & Engineering
ISBN 1849961220

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Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.