| |
| |
| Preface | |
| |
| |
| |
| Introduction | |
| |
| |
| |
| Feedback in Control Systems | |
| |
| |
| |
| System Modeling | |
| |
| |
| |
| Continuous-Time Systems | |
| |
| |
| |
| Discrete-Time Systems | |
| |
| |
| |
| Feedback Control | |
| |
| |
| |
| Adaptive Control System Prototypes | |
| |
| |
| |
| Simple Adaptive Control Systems | |
| |
| |
| |
| Direct Adaptive Control | |
| |
| |
| |
| Indirect Adaptive Control | |
| |
| |
| |
| Discrete-Time Designs | |
| |
| |
| |
| Backstepping Nonlinear Design | |
| |
| |
| |
| Adaptive Control versus Fixed Control | |
| |
| |
| |
| Summary | |
| |
| |
| Problems | |
| |
| |
| |
| Systems Theory | |
| |
| |
| |
| Dynamic System Models | |
| |
| |
| |
| Nonlinear Systems | |
| |
| |
| |
| Linear Systems | |
| |
| |
| |
| System Characterizations | |
| |
| |
| |
| Signal Measures | |
| |
| |
| |
| Vector and Matrix Norms | |
| |
| |
| |
| Signal Norms | |
| |
| |
| |
| Lyapunov Stability | |
| |
| |
| |
| Stability Definitions | |
| |
| |
| |
| Positive Definite Functions | |
| |
| |
| |
| Lyapunov Direct Method | |
| |
| |
| |
| Linear Systems | |
| |
| |
| |
| Lyapunov Indirect Method | |
| |
| |
| |
| Input-Output Stability | |
| |
| |
| |
| Bellman-Gronwall Lemma | |
| |
| |
| |
| Small-Gain Lemma | |
| |
| |
| |
| Operator Stability | |
| |
| |
| |
| Strictly Positive Real Systems | |
| |
| |
| |
| Signal Convergence Lemmas | |
| |
| |
| |
| Discrete-Time Systems | |
| |
| |
| |
| System Modeling | |
| |
| |
| |
| Norms and Signal Spaces | |
| |
| |
| |
| Stability | |
| |
| |
| |
| Operator Norms | |
| |
| |
| |
| Pole Placement | |
| |
| |
| Problems | |
| |
| |
| |
| Adaptive Parameter Estimation | |
| |
| |
| |
| A Parametrized System Model | |
| |
| |
| |
| Linear Parametric Models | |
| |
| |
| |
| Normalized Gradient Algorithm | |
| |
| |
| |
| Normalized Least-Squares Algorithm | |
| |
| |
| |
| Parameter Convergence | |
| |
| |
| |
| Persistency of Excitation | |
| |
| |
| |
| Convergence of the Gradient Algorithm | |
| |
| |
| |
| Convergence of the Least-Squares Algorithm | |
| |
| |
| |
| Discrete-Time Algorithms | |
| |
| |
| |
| Linear Parametric Models | |
| |
| |
| |
| Normalized Gradient Algorithm | |
| |
| |
| |
| Normalized Least-Squares Algorithm | |
| |
| |
| |
| Parameter Convergence | |
| |
| |
| |
| Robustness of Adaptive Algorithms | |
| |
| |
| |
| Continuous-Time Algorithms | |
| |
| |
| |
| Discrete-Time Algorithms | |
| |
| |
| |
| Robust Adaptive Laws | |
| |
| |
| |
| Continuous-Time Algorithms | |
| |
| |
| |
| Discrete-Time Algorithms | |
| |
| |
| |
| Summary | |
| |
| |
| |
| Discussion | |
| |
| |
| Problems | |
| |
| |
| |
| Adaptive State Feedback Control | |
| |
| |
| |
| Design for State Tracking | |
| |
| |
| |
| Design Example | |
| |
| |
| |
| Control System Structure | |
| |
| |
| |
| Adaptive Laws | |
| |
| |
| |
| Adaptive System Properties | |
| |
| |
| |
| Design for Output Tracking | |
| |
| |
| |
| Introductory Example | |
| |
| |
| |
| Control System Structure | |
| |
| |
| |
| Adaptive Laws | |
| |
| |
| |
| Disturbance Rejection | |
| |
| |
| |
| State Tracking | |
| |
| |
| |
| Output Tracking | |
| |
| |
| |
| Parametrization of State Feedback | |
| |
| |
| |
| Parametrization with Full-Order Observer | |
| |
| |
| |
| Parametrization with Reduced-Order Observer | |
| |
| |
| |
| Discrete-Time Adaptive Control | |
| |
| |
| |
| Design Example | |
| |
| |
| |
| Output Tracking Design | |
| |
| |
| |
| Disturbance Rejection | |
| |
| |
| |
| Parametrizations of State Feedback | |
| |
| |
| Problems | |
| |
| |
| |
| Continuous-Time Model Reference Adaptive Control | |
| |
| |
| |
| Control System Structure | |
| |
| |
| |
| Model Reference Control | |
| |
| |
| |
| Adaptive Control | |
| |
| |
| |
| Tracking Error Equation | |
| |
| |
| |
| Lyapunov Design for Relative Degree 1 | |
| |
| |
| |
| Alternative Design for Relative Degree 1 | |
| |
| |
| |
| Lyapunov Design for Arbitrary Relative Degrees | |
| |
| |
| |
| Gradient Design for Arbitrary Relative Degrees | |
| |
| |
| |
| Summary | |
| |
| |
| |
| Robustness of MRAC | |
| |
| |
| |
| Lyapunov Designs for Relative Degree 1 | |
| |
| |
| |
| Gradient Algorithms | |
| |
| |
| |
| Robust MRAC | |
| |
| |
| |
| Modeling Errors | |
| |
| |
| |
| Robustness of MRC | |
| |
| |
| |
| Robust Adaptive Laws | |
| |
| |
| |
| Robust Stability Analysis | |
| |
| |
| |
| Summary | |
| |
| |
| |
| Design for Unknown High Frequency Gain | |
| |
| |
| |
| Adaptive Control Designs Using Nussbaum Gain | |
| |
| |
| |
| An Adaptive Control System | |
| |
| |
| |
| Discussion | |
| |
| |
| Problems | |
| |
| |
| |
| Discrete-Time Model Reference Adaptive Control | |
| |
| |
| |
| Control System Structure | |
| |
| |
| |
| Model Reference Control | |
| |
| |
| |
| Adaptive Control Systems | |
| |
| |
| |
| Adaptive Control for Disturbance d(t) = 0 | |
| |
| |
| |
| Robustness of MRAC with d(t) [set membership] L[superscript 2] | |
| |
| |
| |
| Robust Adaptation for Bounded d(t) | |
| |
| |
| |
| Robustness of MRAC with L[superscript 1+ alpha] Errors | |
| |
| |
| |
| Plant with Modeling Errors | |
| |
| |
| |
| Adaptive Control Scheme | |
| |
| |
| |
| Robustness Analysis | |
| |
| |
| |
| Discussion | |
| |
| |
| Problems | |
| |
| |
| |
| Indirect Adaptive Control | |
| |
| |
| |
| Model Reference Designs | |
| |
| |
| |
| Simple Adaptive Control Systems | |
| |
| |
| |
| General Design Procedure | |
| |
| |
| |
| Pole Placement Designs | |
| |
| |
| |
| Control System Structure | |
| |
| |
| |
| Pole Placement Control | |
| |
| |
| |
| Controller Parameter Adaptation | |
| |
| |
| |
| Discrete-Time Adaptive Control Systems | |
| |
| |
| |
| Model Reference Designs | |
| |
| |
| |
| Pole Placement Designs | |
| |
| |
| |
| Discussion | |
| |
| |
| Problems | |
| |
| |
| |
| A Comparison Study | |
| |
| |
| |
| Benchmark Example | |
| |
| |
| |
| Direct Adaptive Control Designs | |
| |
| |
| |
| State Feedback Design | |
| |
| |
| |
| Output Feedback Design | |
| |
| |
| |
| Indirect Adaptive Control Design | |
| |
| |
| |
| Direct-Indirect Adaptive Control Design | |
| |
| |
| |
| Direct Adaptive Control for Motor Dynamics | |
| |
| |
| |
| Indirect Adaptive Control for Load Dynamics | |
| |
| |
| |
| Simulation Results | |
| |
| |
| |
| Adaptive Backstepping Design | |
| |
| |
| Problems | |
| |
| |
| |
| Multivariable Adaptive Control | |
| |
| |
| |
| Adaptive State Feedback Control | |
| |
| |
| |
| Design for State Tracking | |
| |
| |
| |
| Design Based on LDU Parametrization | |
| |
| |
| |
| System Identification | |
| |
| |
| |
| Model Reference Adaptive Control | |
| |
| |
| |
| Description of Multivariable Systems | |
| |
| |
| |
| Plant and Controller Parametrizations | |
| |
| |
| |
| Robust Model Reference Control | |
| |
| |
| |
| Error Model | |
| |
| |
| |
| Adaptive Laws | |
| |
| |
| |
| Stability and Robustness Analysis | |
| |
| |
| |
| MRAC Using Right Interactor Matrices | |
| |
| |
| |
| Continuous-Time Lyapunov Designs | |
| |
| |
| |
| MRAC Designs for Input and Output Delays | |
| |
| |
| |
| Adaptation and High Frequency Gain Matrix | |
| |
| |
| |
| Designs Based on Decompositions of K[subscript p] | |
| |
| |
| |
| Adaptive Backstepping Control | |
| |
| |
| |
| Plant Parametrization | |
| |
| |
| |
| State Observer | |
| |
| |
| |
| Design Procedure for B[subscript m] Nonsingular | |
| |
| |
| |
| Design Based on SDU Decomposition of B[subscript m] | |
| |
| |
| |
| Design Procedure for B[subscript m] Singular | |
| |
| |
| |
| Adaptive Control of Robotic Systems | |
| |
| |
| |
| Robotic System Modeling | |
| |
| |
| |
| Illustrative Example | |
| |
| |
| |
| Design for Parameter Variations | |
| |
| |
| |
| Design for Unmodeled Dynamics | |
| |
| |
| |
| Discussion | |
| |
| |
| Problems | |
| |
| |
| |
| Adaptive Control of Systems with Nonlinearities | |
| |
| |
| |
| Actuator Nonlinearity Compensation | |
| |
| |
| |
| Actuator Nonlinearities | |
| |
| |
| |
| Parametrized Nonlinearity Inverses | |
| |
| |
| |
| State Feedback Inverse Control | |
| |
| |
| |
| Output Feedback Inverse Control | |
| |
| |
| |
| Designs for Multivariable Systems | |
| |
| |
| |
| Designs for Unknown Linear Dynamics | |
| |
| |
| |
| Designs for SISO Plants | |
| |
| |
| |
| Designs for MIMO Plants | |
| |
| |
| |
| Designs for Nonlinear Dynamics | |
| |
| |
| |
| Design for Feedback Linearizable Systems | |
| |
| |
| |
| Design for Parametric-Strict-Feedback Systems | |
| |
| |
| |
| Design for Output-Feedback Systems | |
| |
| |
| |
| Discussion | |
| |
| |
| Problems | |
| |
| |
| Bibliography | |
| |
| |
| Index | |