Data-Driven, Nonparametric, Adaptive control Theoryintroduces a novel approach to the control of deterministic, nonlinear ordinary differential equations affected by uncertainties. The methods proposed enforce satisfa...
详细信息
ISBN:
(数字)9783031780035
ISBN:
(纸本)9783031780028;9783031780059
Data-Driven, Nonparametric, Adaptive control Theory
introduces a novel approach to the control of deterministic, nonlinear ordinary differential equations affected by uncertainties. The methods proposed enforce satisfactory trajectory tracking despite functional uncertainties in the plant model. The book employs the properties of reproducing kernel Hilbert (native) spaces to characterize both the functional space of uncertainties and the controller's performance. Classical control systems are extended to broader classes of problems and more informative characterizations of the controllers’ performances are attained.
Following an examination of how backstepping control and robust control Lyapunov functions can be ported to the native setting, numerous extensions of the model reference adaptive control framework are considered. The authors’ approach breaks away from classical paradigms in which uncertain nonlinearities are parameterized using a regressor vector provided a priori or reconstructed online. The problem of distributing the kernel functions that characterize the native space is addressed at length by employing data-driven methods in deterministic and stochastic settings.
The first part of this book is a self-contained resource, systematically presenting elements of real analysis, functional analysis, and native space theory. The second part is an exposition of the theory of nonparametric control systems design. The text may be used as a self-study book for researchers and practitioners and as a reference for graduate courses in advanced control systems design. MATLAB® codes, available on the authors’ website, and suggestions for homework assignments help readers appreciate the implementation of the theoretical results.
丛书名：
lecture notes in control and information sciences
1000年
Experts in the field of experimental robotics come together in this book to share the results of their most recent research projects. Both theoretical ideas and advances with practical applications are discussed, In p...
详细信息
ISBN:
(数字)9783540409205
Experts in the field of experimental robotics come together in this book to share the results of their most recent research projects. Both theoretical ideas and advances with practical applications are discussed, In particular, state-of-the-art research in fascinating areas such as underwater environments, civil engineering, space and medicine is focused upon. Research aimed at improving methodologies and techniques in robot control, programming and planning shows the way to improve the use of robots for complex problems. Techniques for human-robot co-operation are also looked at - there are a number of areas in which combining the intelligence and adaptability of humans and the accuracy and reliability of robots can have remarkable results. This book will enable readers to update their knowledge of experimental robotics and find out, particularly, about the research that has been going on over the last two years and the research that is likely to continue in the future.
丛书名：
lecture notes in control and information sciences
1000年
This volume is based on the course notes of the 2nd NCN Pedagogical School, the second in the series of Pedagogical Schools in the frame work of the European TMR project, "Breakthrough in the control of nonlinear...
详细信息
ISBN:
(数字)9781846285707
ISBN:
(纸本)9781852333782
This volume is based on the course notes of the 2nd NCN Pedagogical School, the second in the series of Pedagogical Schools in the frame work of the European TMR project, "Breakthrough in the control of nonlinear systems (Nonlinear control Network)". The school consists of four courses that have been chosen to give a broad range of techniques for the analysis and synthesis of nonlinear control systems, and have been developed by leading experts in the field. The topics covered are: Differential Algebraic Methods in Nonlinear Systems; Nonlinear QFT; Hybrid Systems; Physics in control.;The book has a pedagogical character, and is specially directed to postgraduates in most areas of engineering and applied sciences like mathematics and physics. It will also be of interest to researchers and practitioners needing a solid introduction to the above topics.
Robot Motion control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and control held in Pola...
详细信息
ISBN:
(数字)9781447123439
ISBN:
(纸本)9781447123422
Robot Motion control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field.;The following recent developments are discussed:;Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors.;New control algorithms for industrial robots, nonholonomic systems and legged robots.;Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others.;Multiagent systems consisting of mobile and flying robots with their applications;The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields.
V VII X Table of Contents Table of Contents XI XII Table of Contents A. Taware and G. Tao: control of Sandwich Nonlinear Systems, LNCIS 288, pp. 1-8, 2003. Springer-Verlag Berlin Heidelberg 2003 A. Taware and G. Tao: ...
详细信息
ISBN:
(数字)9783540461272
ISBN:
(纸本)9783540441151
V VII X Table of Contents Table of Contents XI XII Table of Contents A. Taware and G. Tao: control of Sandwich Nonlinear Systems, LNCIS 288, pp. 1-8, 2003. Springer-Verlag Berlin Heidelberg 2003 A. Taware and G. Tao: control of Sandwich Nonlinear Systems, LNCIS 288, pp. 9-16, 2003. Springer-Verlag Berlin Heidelberg 2003 x(t), pilot valve piston position Return Pressure Source Return Load M, b y(t) A. Taware and G. Tao: control of Sandwich Nonlinear Systems, LNCIS 288, pp. 17-28, 2003. Springer-Verlag Berlin Heidelberg 2003 load displacement, y(t) 3 2 1 0 ?1 ?2 ?3 0 10 20 30 40 50 60 70 80 90 100 solid?without DZ, dotted? with DZ Load displacement, y(t) 0.4 0.2 0 ?0.2 ?0.4 ?0.6 ?0.8 10 20 30 40 50 60 70 80 90 100 solid?without DZ, dotted?with DZ, dashdot?compensated Load displacement, y(t) 3 2 1 0 ?1 ?2 ?3 0 10 20 30 40 50 60 70 80 90 100 control input, x(t) 0.8 0.6 0.4 0.2 0 ?0.2 ?0.4 ?0.6 0 10 20 30 40 50 60 70 80 90 100 solid?without DZ, dotted?with DZ, dashdot?compensated Load displacement, y(t) 0.6 0.4 0.2 0 ?0.2 ?0.4 ?0.6 ?0.8 0 10 20 30 40 50 60 70 80 90 100 solid?without DZ, dotted?with DZ, dashdot?compensated A. Taware and G. Tao: control of Sandwich Nonlinear Systems, LNCIS 288, pp. 29-54, 2003. Springer-Verlag Berlin Heidelberg 2003
Time delays are present in many physical processes due to the period of time it takes for the events to occur. Delays are particularly more pronounced in networks of interconnected systems, such as supply chains and s...
详细信息
ISBN:
(数字)9783642028977
ISBN:
(纸本)9783642028960
Time delays are present in many physical processes due to the period of time it takes for the events to occur. Delays are particularly more pronounced in networks of interconnected systems, such as supply chains and systems controlled over c- munication networks. In these control problems, taking the delays into account is particularly important for performance evaluation and control system’s design. It has been shown, indeed, that delays in a controlled system (for instance, a c- munication delay for data acquisition) may have an “ambiguous” nature: they may stabilize the system, or, in the contrary,they may lead to deteriorationof the clos- loop performance or even instability, depending on the delay value and the system parameters. It is a fact that delays have stabilizing effects, but this is clearly con i- ing for human intuition. Therefore,speci c analysis techniquesand design methods are to be developed to satisfactorily take into account the presence of delays at the design stage of the control system. The research on time delay systems stretches back to 1960s and it has been very active during the last twenty years. During this period, the results have been presented at the main control conferences(CDC, ACC, IFAC), in specialized wo- shops (IFAC TDS series), and published in the leading journals of control engine- ing, systems and control theory, applied and numerical mathematics.
暂无评论