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Direct Adaptive Control Algorithms Theory and Applications

Suitable either as a reference for practicing engineers or as a text for a graduate course in adaptive control systems, this book is a self -contained compendium of readily implementable adaptive control algorithms that have been developed and applied by the authors for over fifteen years. These alg...

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Bibliographic Details
Main Authors: Kaufman, Howard, Barkana, Itzhak (Author), Sobel, Kenneth (Author)
Format: eBook
Language:English
Published: New York, NY Springer New York 1998, 1998
Edition:2nd ed. 1998
Series:Communications and Control Engineering
Subjects:
Control, Robotics, Automation
Control Engineering
Robotics
Automation
Online Access:
Collection: Springer Book Archives -2004 - Collection details see MPG.ReNa
Table of Contents:
  • 7.2 Model Reference Adaptive Control of Large Structures
  • 7.3 Adaptive Drug Delivery Control
  • 7.4 Adaptive Control for a Relaxed Static Stability Aircraft
  • 7.5 Liquid Level System Emulation
  • References
  • Appendix 3B Proof of Theorem 3.1
  • Appendix 3C Proof of Theorem 3.2
  • Appendix 3D Proof of Theorem 3.3
  • Appendix 3E Proof of Theorem 3.4
  • Appendix 3F Outline of Proof of Theorem 3.5
  • 4 Robust Design Procedures
  • 4.1 Introduction
  • 4.2 Robust Redesign of the Basic Adaptive Algorithm
  • 4.3 Robustness Considerations with Feedforward in the Reference Model
  • 4.4 Robust Redesign for Supplementary Dynamics
  • 4.5 Bursting Phenomena and Their Elimination
  • 4.6 Summary
  • Appendix 4A Proof of Robust Stability, Theorem 4.1
  • Appendix 4B Development of Lyapunov Function Derivative
  • Appendix 4C Proof of Theorem 4.2
  • 5 Adaptive Control of Time-Varying and Nonlinear Systems
  • 5.1 Introduction
  • 5.2 Passivity and Almost Passivity of Nonstationary Systems
  • 5.3 Adaptive Control of ASP Plants
  • 5.4 The “Almost Passivity” Lemmas.-5.5 Passivity and Almost Passivity of Nonlinear Systems
  • 5.6 Simple Adaptive Control for a Class of Nonlinear Systems
  • 1 Introduction
  • 1.1 Definition of the Problem
  • 1.2 Prologue to Simple Adaptive Control
  • 1.3 Background on Adaptive Control Algorithms
  • 1.4 Objectives and Overview
  • 1.5 Software Availability for Example Problems
  • 2 Basic Theory of Simple Adaptive Control
  • 2.1 Model Following
  • 2.2 Output Model Following
  • 2.3 Stability and Positivity Concepts
  • 2.4 Adaptive Control Based on CGT
  • 2.5 The Adaptive Algorithm with General Input Commands
  • 2.6 Summary of Adaptive Algorithms
  • Appendix 2A Proof of Theorem 2.1
  • Appendix 2B Proof of Theorem 2.2
  • Appendix 2C Poles, Zeros, and Relative Degree in Multivariable Systems
  • 3 Extensions of the Basic Adaptive Algorithm
  • 3.1 Parallel Feedforward and Stability Considerations
  • 3.2 Feedforward Around Plant
  • 3.3 Feedforward in Both Plant and Model
  • 3.4 A Unified Approach to Supplementary Dynamics
  • 3.5 Adaptive Control in the Presence of Nonlinearities
  • 3.6 Summary
  • Appendix 3A Proof of Positivity Lemmas
  • 5.7 Simple Adaptive Control of Rigid Robotic Manipulators
  • 5.8 Summary
  • Appendix 5A Proof of Stability for the Algorithm (5.27)-(5.32)
  • Appendix 5B Strictly Causal Almost Passive Systems
  • Appendix 5C Proof of Lemma 5.1
  • Appendix 5D Proof of Almost Passivity Lemma in Nonlinear Systems
  • Appendix 5E Almost Passivity with Application to Manipulators
  • Appendix 5F The Proof of Stability of the Adaptive Control Algorithm
  • Appendix 5G Adaptive Control of Strictly Causal Almost Passive Systems
  • 6 Design of Model Reference Adaptive Controllers
  • 6.1 Algorithm Overview
  • 6.2 Constraint Satisfaction
  • 6.3 Weight Selection
  • 6.4 Reference Model Selection
  • 6.5 Digital Implementation
  • 6.6 Time-Varying Commands
  • Appendix 6A Proof of Theorem 6.1
  • Appendix 6B Proof of Theorem 6.2
  • Appendix 6C Proof of Lemma 6.1
  • Appendix 6D Proof of Theorem 6.3
  • 7 Case Studies
  • 7.1 Direct Model Reference Adaptive Control of a PUMA Manipulator

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