Adaptive Backstepping Control of Uncertain Systems: Nonsmooth Nonlinearities, Interactions or Time-Variations

Front Cover
Springer Science & Business Media, Feb 7, 2008 - Technology & Engineering - 242 pages
0 Reviews
This book employs the powerful and popular adaptive backstepping control technology to design controllers for dynamic uncertain systems with non-smooth nonlinearities. Various cases including systems with time-varying parameters, multi-inputs and multi-outputs, backlash, dead-zone, hysteresis and saturation are considered in design and analysis. For multi-inputs and multi-outputs systems, both centralized and decentralized controls are addressed. This book not only presents recent research results including theoretical success and practical development such as the proof of system stability and the improvement of system tracking and transient performance, but also gives self-contained coverage of fundamentals on the backstepping approach illustrated with simple examples. Detail description of methodologies for the construction of adaptive laws, feedback control laws and associated Lyapunov functions is systematically provided in each case. Approaches used for the analysis of system stability and tracking and transient performances are elaborated. Two case studies are presented to show how the presented theories are applied.
 

What people are saying - Write a review

We haven't found any reviews in the usual places.

Contents

Introduction
1
12 Objectives
3
13 Preview of Chapters
4
Adaptive Backstepping Control Design
6
Adaptive Backstepping Control
9
212 Adaptive Backstepping
12
213 Adaptive Backstepping with Tuning Functions
15
22 State Feedback Control
17
Stability Analysis
113
734 Extension to Nonlinear Systems
116
735 Simulation Studies
119
Valve Control Mechanism
120
74 Summary
122
Inverse Control of Systems with Backlash Nonlinearity
125
82 Problem Statement
126
822 Backlash Characteristic
127

23 Output Feedback Control
22
231 State Estimation Filters
23
232 Design Procedure and Stability Analysis
25
Adaptive Control of TimeVarying Nonlinear Systems
32
32 System Model and Problem Formulation
34
322 Preliminary Result
35
33 State Estimation Filters
38
34 Control Design
41
342 Stability Analysis
46
35 An Illustrative Example
48
36 Summary
50
Multivariable Adaptive Control
51
42 Problem Formulation
52
43 Preliminary Results
54
44 Backstepping Design with SDU Factorization
59
45 Simulation Studies
63
46 Summary
64
Decentralized Stabilization of Interconnected Systems
65
52 Problem Formulation
66
53 Local State Estimation Filters
67
54 Design of Adaptive Controllers
68
55 Stability Analysis
71
56 An Illustrative Example
74
57 Conclusion
78
Nonsmooth Nonlinearities
80
Nonsmooth Nonlinearities
81
61 Backlash
84
611 Valve Control Mechanism
85
613 Piezoelectric Actuator
87
623 ServoValve
88
63 Saturation
89
631 Active Microgravity Isolation System
90
632 Power Supply
91
64 Hysteresis
92
641 Magnetic Suspension with Hysteresis
95
642 Hysteresis Motor
96
Backstepping Control of Systems with Backlash Nonlinearity
97
72 State Feedback Control
98
722 Backstepping Design and Stability Analysis
99
Control Scheme I
100
Control Scheme II
103
723 An Illustrative Example
106
73 Output Feedback Control
108
731 Plant Model
109
733 Design of Adaptive Controllers
111
83 State Estimation Filters
130
84 Design of Adaptive Controllers
131
85 Simulation Study
136
86 Conclusion
138
Stabilization of Interconnected Systems with Backlash Nonlinearity
139
92 Problem Formulation
141
93 Local State Estimation Filters
143
94 Design of Adaptive Controllers
145
942 Control Scheme II
148
95 Stability Analysis
150
952 Control Scheme II
156
96 An Illustrative Example
159
97 Conclusion
164
Adaptive Control of Nonlinear Systems with DeadZone Nonlinearity
165
102 State Feedback Backstepping Control
166
1022 Controller Design
168
103 Output Feedback Control Using Backstepping and Inverse Technique
170
1032 DeadZone Characteristic
171
1033 State Observer
173
1034 Backstepping Design with DeadZone Inverse
174
1035 Stability Analysis
179
104 Illustrative Examples
182
Output Feedback Inverse Control
183
Application to ServoValve
185
105 Summary
188
Adaptive Control of Systems with Input Saturation
189
112 System Description and Problem Statement
190
114 Simulation Study
195
115 Conclusion
197
Control of a Hysteretic Structural System in Base Isolation Scheme
198
122 Problem Formulation
200
123 Control Design and Main Results
203
1232 Control Scheme II
207
124 Simulation Results
208
125 Summary
212
Control of a PiezoPositioning Mechanism with Hysteresis
215
132 System Description
216
133 Backstepping Control and Stability Analysis
218
Control Scheme II
222
134 Simulation Results
224
135 Conclusion
226
Appendices
227
References
232
Copyright

Other editions - View all

Common terms and phrases

Bibliographic information