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Jeffrey T. Spooner, Manfredi Maggiore, Raśl Ordóñez, Kevin M. Passino, "Stable Adaptive Control and Estimation for Nonlinear Systems" |
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John Wiley & Sons, Inc.,
New York, 2002 |
Preface (XV) |
| 1. Introduction (1) | |
| 1.1. Overview (1) | |
| 1.2. Stability and Robustness (4) | |
| 1.3. Adaptive Control: Techniques and Properities (4) | |
| 1.4. The Role of Neural Networks and Fuzzy Systems (6) | |
| 1.5. Summary | |
| I Foundations (11) | |
| 2. Mathematical Foundations (13) | |
| 2.1. Overview (13) | |
| 2.2. Vectors, Matrices, and Signals: Norms and Properties (13) | |
| 2.3. Functions: Continuity and Convergence (21) | |
| 2.4. Characterizations of Stability and Boundedness (24) | |
| 2.5. Lyapunov's Direct Method (31) | |
| 2.6. Input-to-State Stability (38) | |
| 2.7. Special Classes of Systems (41) | |
| 2.8. Summary (45) | |
| 2.9. Exercises and Design Problems (45) | |
| 3. Neural Networks and Fuzzy Systems (49) | |
| 3.1. Overview (49) | |
| 3.2. Neural Networks (50) | |
| 3.3. Fuzzy Systems (60) | |
| 3.4. Summary (69) | |
| 3.5. Exercises and Design Problems (69) | |
| 4. Optimization for Training Approximators (73) | |
| 4.1. Overview (73) | |
| 4.2. Problem Formulation (74) | |
| 4.3. Linear Least Squares (76) | |
| 4.4. Nonlinear Least Squares (84) | |
| 4.5. Summary (101) | |
| 4.6. Exercises and Design Problems (102) | |
| 5. Function Approximation (105) | |
| 5.1. Overview (105) | |
| 5.2. Function Approximation (106) | |
| 5.3. Bounds on Approximator Size (119) | |
| 5.4. Ideal Parameter Set and Representation Error (122) | |
| 5.5. Linear and Nonlinear Approximator Structures (123) | |
| 5.6. Discussion: Choosing the Best Approximators (124) | |
| 5.7. Summary (130) | |
| 5.8. Exercises and Design Problems (130) | |
| II State-Feedback Control (133) | |
| 6. Control of Nonlinear Systems (135) | |
| 6.1. Overview (135) | |
| 6.2. The Error System and Kyapunov Candidate (137) | |
| 6.3. Canonical System Representations (141) | |
| 6.4. Coping with Uncertainties: Nonlinear Damping (159) | |
| 6.5. Coping with Partial Information: Dynamic Normalization (163) | |
| 6.6. Using Approximators in Controllers (165) | |
| 6.7. Summary (171) | |
| 6.8. Exercises and Design Problems (172) | |
| 7. Direct Adaptive Control (179) | |
| 7.1. Overview (179) | |
| 7.2. Lyapunov Analysis and Adjustable Approximators (180) | |
| 7.3. The Adaptive Controller (184) | |
| 7.4. Inherent Robustness (201) | |
| 7.5. Improving Performance (203) | |
| 7.6. Extension to Nonlinear Parametrization (206) | |
| 7.8. Exercises and Design Problems (210) | |
| 8. Indirect Adaptive Control (215) | |
| 8.1. Overview (215) | |
| 8.2. Uncertainties Satisfying Matching Conditions (215) | |
| 8.3. Beyond the Matching Condition (236) | |
| 8.4. Summary (254) | |
| 8.5. Exercises and Design Problems (254) | |
| 9. Implementations and Comparative Studies (257) | |
| 9.1. Overview (257) | |
| 9.2. Control of Input-Output Feedback Linearizable Systems (258) | |
| 9.3. The Rotational Inverted Pendulum (263) | |
| 9.4. Modeling and Simulation (264) | |
| 9.5. Two Non-Adaptive Controllers (266) | |
| 9.6. Adaptive Feedback Linearization (271) | |
| 9.7. Indirect Adaptive Fuzzy Control (274) | |
| 9.8. Direct Adaptive Fuzzy Control (285) | |
| 9.9. Summary (299) | |
| 9.10. Exercises and Design Problems (300) | |
| III Output-Feedback Control (305) | |
| 10. Output-Feedback Control (307) | |
| 10.1. Overview (307) | |
| 10.2. Partial Information Framework (308) | |
| 10.3. Output-Feedback Systems (310) | |
| 10.4. Separation Principle for Stabilization (317) | |
| 10.5. Extension to MIMO Systems (337) | |
| 10.6. How to Avoid Adding Integrators (339) | |
| 10.7. Coping with Uncertainties (347) | |
| 10.8. Output-Feedback Tracking (350) | |
| 10.9. Summary (359) | |
| 10.10 Excercises and Design Problems (360) | |
| 11. Adaptive Output Feedback Control (363) | |
| 11.1. Overview (363) | |
| 11.2. Control of Systems in Adaptive Tracking Form (364) | |
| 11.3. Separation Principle for Adaptive Stabilization (371) | |
| 11.4. Separation Principle for Adaptive Tracking (387) | |
| 11.5. Summary (398) | |
| 11.6. Exercises and Design Problems (398) | |
| 12. Applications (401) | |
| 12.1. Overview (401) | |
| 12.2. Nonadaptive Stabilization: Jet Engine (402) | |
| 12.3. Adaptive Stabilization: Electromagnet Control (411) | |
| 12.4. Tracking: VTOL Aircraft (424) | |
| 12.5. Summary (432) | |
| 12.6. Exercises and Design Problems (433) | |
| IV Extensions (435) | |
| 13. Discrete-Time Systems (437) | |
| 13.1. Overview (437) | |
| 13.2. Discrete-Time Systems (438) | |
| 13.3. Static Controller Design (444) | |
| 13.4. Robust Control of Discrete-Time Systems (454) | |
| 13.5. Adaptive Control (458) | |
| 13.6. Summary (470) | |
| 13.7. Exercises and Design Problems (470) | |
| 14. Decentralized Systems (473) | |
| 14.1. Overview (473) | |
| 14.2. Decentralized Systems (474) | |
| 14.3. Static Controller Design (476) | |
| 14.4. Adaptive Controller Design (485) | |
| 14.5. Summary (495) | |
| 14.6. Exercises and Design Problems (496) | |
| 15. Perspectives on Intelligent Adaptive Systems (499) | |
| 15.1. Overview (499) | |
| 15.2. Relations to Conventional Adaptive Control (500) | |
| 15.3. Genetic Adaptive Systems (501) | |
| 15.4. Expert Control for Adaptive Systems (503) | |
| 15.5. Planning Systems for Adaptive Control (504) | |
| 15.6. Intelligent and Autonomous Control (506) | |
| 15.7. Summary (509) | |
| For Further Study (511) | |
| Bibliography (521) | |
| Index (541) | |
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