Nonlinear adaptive control ac deterministic robust control drc reduceeliminate uncertainties through parameter adaptation to achieve asymptotic tracking. The control problem is stated as that of designing a control law for the input u such that, under assumption 1, the system is. Jing sun free pdf d0wnl0ad, audio books, books to read, good books to read, cheap books. Ioannou, robust adaptive control for a class of mimo nonlinear systems, to appear in proc. Robust adaptive coverage for robotic sensor networks 3 ing ideas in adaptive control narendra and annaswamy, 1989,sastry and bodson, 1989,slotine and li, 1991. Robust adaptive coverage for robotic sensor networks. Some adaptive control techniques, particularly autotuning methods, have become commonly used in commercially available controllers, while other industrial uses of adaptive control are more problem specific. Nonlinear adaptive robust control purdue university.
A robust adaptive output feedback controller is proposed for a class of nonlinear systems. Free download of robust adaptive control by petros a. Ioannou, robust adaptive control of a large flexible structure, proc. Essentially, the design of a robust adaptive controller involves appropriate modi fications of the. Robust adaptive control usc viterbi school of engineering. Driven by aerospace applications the focus of the book is primarily on continuousdynamical systems. Here is the full list of best reference books on adaptive control theory.
Presenting techniques for designing and analyzing adaptive systems in a tutorial manner, this text covers models for dynamic systems, stability, online parameter estimation, parameter identifiers, model reference adaptive control, adaptive pole placement control and robust adaptive laws. Which are the best books and video tutorials for adaptive. A robust adaptive control scheme for an active mount using. Professor petros ioannou is undoubtedly one of such central figures in the field of adaptive con trol. Linear systems and control, basic understanding of nonlinear dynamics, lyapunov stability theory, numerical methods, and matlab. Design of telerobotic drilling control system with haptic feedback. Robust adaptive control algorithms the persistence of excitation condition used to obtain the result of theorem 3.
Ece 851 linear systems and control or consent of the instructor. The text is a threepart treatment, beginning with robust and optimal linear control methods and moving on to a selfcontained. Ioannou and sun, robust adaptive control, prenticehall, 1996. Ece 859 nonlinear systems and control will be a plus but not required. Simulation results verify the advantages of the suggested method. The vibration isolation performance and robustness of the employed robust adaptive controller are compared with a robust and an adaptive control technique. Linear systems and control, basic understanding of nonlinear dynamics.
The treatment unifies, simplifies, and explains most of the techniques for designing and analyzing adaptive control systems. Ioannou and others published robust adaptive control find, read and cite all the research you need on researchgate. Possible instability in the presence of even small measurement noises and disturbances. Sun, robust adaptive control, prentice hall, new york, ny, usa, 1996. The resulting controller is more flexible and versatile than either adaptive control or robust control alone. Adaptive robust control of siso nonlinear a semistrict feedback form brief paper systems in. The most comprehensive guide in the area of adaptive control of continuoustime systems. Adaptive robust control of siso nonlinear systems in a semi. Other robustness studies have considered the adaptive control of robotic manipulators exclusively reed and loannou, 1989. Ioannou, robust adaptive control of linearizable nonlinear single input systems,in proc.
Recent developments in robust adaptive control in the presence of bounded as. Topics electrical engineering, engineering, robust adaptive control publisher na. Pdf on dec 8, 2010, petros ioannou and others published robust adaptive control find, read and cite all the research you need on researchgate. These indicated that the theory of adaptive control is moving closer to applications and is beginning to give realistic guidelines useful in practical situations. Design of telerobotic drilling control system with haptic feedback authors. The paper deals with the design of control algorithms. The book presents fundamental techniques and algorithms in the field of adaptive control. Robust adaptive control algorithms with and without. A robust direct adaptive controller semantic scholar. Design of robust adaptive digital setpoint tracking p1 controllers. Robust adaptive control pertains to satisfactory behavior of adaptive control systems in. The workshop brought together international experts in the field of robust adaptive control to present recent developments in the area. Assignments 40% counted based on assignment solutions committed in the git repository as.
Robust adaptive control pertains to satisfactory behavior of adaptive control systems in the presence of nonparametric perturbations such as disturbances, unmodeled dynamics, and time delays. Adaptive prediction and predictive control kanjilal. Air transportation center for advanced transportation. Adaptive control systems are time varying and nonlinear, thus more challenging to analyze and understand than traditional linear time invariant controllers. In the following theorem we will show that s will be spe if the reference input signal rt is properly designed. Robust adaptive control for vehicle active suspension systems. Download the book in pdf, epub, kindle for a complete version. Ioannou electrical engineering systems university of southern california eeb 200b, mc 2562 lo angeles, ca 90089 email. The stability proofs are often long and technical and possibly distracting to readers who prefer to focus on the design and implementation of adaptive control. Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. Petros ioannou, the main author, is a professor of electrical engineering systems at the university of southern california.
Presented in a tutorial style, this book unifies, simplifies, and presents most of the existing techniques for designing and analyzing adaptive control systems. For example, as an aircraft flies, its mass will slowly decrease as a result of fuel consumption. Pdf on dec 8, 2010, petros ioannou and others published robust adaptive control find, read and cite all the research you need on. Presented in a tutorial style, this authoritative text reduces the confusion and difficulty in grasping the design, analysis, and robustness of a wide class of adaptive controls for continuoustime plants.
Jing sun control systems ford scientific research laboratory email. Ioannou and others published robust adaptive control find, read and cite all the research you need on. Guaranteed robustness with fast adaptation speyer, jason l. Adaptive control tutorial is designed to serve the needs of three distinct groups of readers. Robust adaptive control reduces the confusion and difficulty in understanding the design, analysis, and robustness of a wide class of adaptive control for continuoustime plants. Adaptive robust control of siso nonlinear systems in a. Robust and adaptive control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Contents xi 9 robust adaptive control schemes 635 9. Ioannou and baris fidan, booktitleadvances in design and control, year2006 preface acknowledgements list of acronyms 1. Download pdf robust adaptive control dover books on. Instability analysis and robust adaptive control of robotic manipulators js reed, pa ioannou proceedings of the 27th ieee conference on decision and control, 16071612, 1988. Abstrucrthis paper proposes a new direct adaptive control algorithm which is robust with respect to additive. Necessary tools from nonlinear control theory will be. The few attempts at robust adaptive nonlinear schemes have been directed mainly towards the study of the effects of unmodeled dynamics in a singular perturbation framework taylor et ai, 1989.
The theory of robust adaptive control has been well es tablished and understood. Adaptive control covers a set of techniques which provide a systematic approach for automatic adjustment of the controllers in real time, in order to achieve or to maintain a desired level of performance of the control system when the parameters of the plant dynamic model are unknown. Robust adaptive control dover books on electrical engineering by petros ioannou 20121219 by petros ioannou. A unified approach for the analysis and design of robust adaptive. This article covers the highlights of robust adaptive controllers, methods used, and results obtained. Adaptive control tutorial advances in design and control. To introduce the basic theory and overview of adaptive systems and their applications to control systems. In this study, a robust adaptive control method is employed for an active engine mount in a sixdegreeoffreedom model of the engine on the mounts to improve vibration behavior of the engine. Petros ioannou and baris fidan, siam, philadelphia, pa, 2006. Robust adaptive control of nonlinear systems with unmodelled.
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