The book presents a solution to a problem in adaptive control design that was open for 40 years: robustification of disturbances without compromising asymptotic performance. This original methodology builds on foundational ideas, such as the use of a deadzone in the update law and nonlinear damping in the controller, and advances the tools for and the theory behind designing robust adaptive controllers, thus guaranteeing robustness properties stronger than previously achieved. Numerous examples provide detailed analyses of the new methodology. The authors present all stability notions that are useful in adaptive control, provide examples of all robustness problems (e.g. parameter drift), and analyze all approaches to robustification of adaptive controllers that have appeared in the literature; develop the Deadzone-Adapted Disturbance Suppression (DADS) control, a novel adaptive control scheme, and construct a novel robust identifier that can work in parallel with every direct adaptive controller (not only DADS); present the wing rock instability problem, an application of the DADS control scheme, solved with the DADS controller; and provide ideas for the extension of the control scheme to cases not studied in the book.
The book presents a solution to a problem in adaptive control design that was open for 40 years: robustification of disturbances without compromising asymptotic performance. This original methodology builds on foundational ideas, such as the use of a deadzone in the update law and nonlinear damping in the controller, and advances the tools for and the theory behind designing robust adaptive controllers, thus guaranteeing robustness properties stronger than previously achieved. Numerous examples provide detailed analyses of the new methodology. The authors present all stability notions that are useful in adaptive control, provide examples of all robustness problems (e.g. parameter drift), and analyze all approaches to robustification of adaptive controllers that have appeared in the literature; develop the Deadzone-Adapted Disturbance Suppression (DADS) control, a novel adaptive control scheme, and construct a novel robust identifier that can work in parallel with every direct adaptive controller (not only DADS); present the wing rock instability problem, an application of the DADS control scheme, solved with the DADS controller; and provide ideas for the extension of the control scheme to cases not studied in the book.
This book approaches the design of active vibration control systems from the perspective of today's ideas of computer control. It formulates the various design problems encountered in the active...
This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface...
Gyroscopes are commonly used sensors for measuring angular velocity in many areas of applications such as navigation, homing, and control stabilization. Fabrication imperfections and thermal,...
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