Adaptive Control of Nonsmooth Dynamic Systems

✍ Scribed by Mattias Nordin, Per Bodin, Per-Olof Gutman (auth.), Gang Tao PhD, Frank L. Lewis PhD (eds.)

• Publisher: Springer-Verlag London
• Year: 2001
• Tongue: English
• Leaves: 424
• Edition: 1
• Category: Library

✦ Synopsis

A complete reference to adaptive control of systems with nonsmooth nonlinearities such as:

• backlash;

• dead-zones;

• component failure;

• friction;

• hysteresis;

• saturation;

• time delays.

These nonlinearities in industrial actuators cause severe problems in the motion control of industrial processes, particularly in view of modern requirements for speed and precision of movement, such as occur in semiconductor manufacturing, precision machining and elsewhere. Actuator nonlinearities are ubiquitous in engineering practice and limit control system performance.

While standard feedback control alone cannot handle these nonsmooth nonlinearities effectively, this book, with unified and systematic adaptive design methods developed in 16 chapters, shows how such nonlinear characteristics can be effectively compensated for by using adaptive and intelligent control techniques. This allows desired system performance to be achieved in the presence of uncertain nonlinearities.

With extensive surveys of literature and comprehensive summaries of various design methods the authors of the book chapters, who are experts in their areas of interest, present new solutions to some important issues in adaptive control of systems with various sorts of nonsmooth nonlinearities.

In addition to providing solutions, the book is also aimed at motivating more research activities in the important field of adaptive control of nonsmooth nonlinear industrial systems by formulating several challenging open problems in related areas.

✦ Table of Contents

Front Matter....Pages i-xxi
New Models and Identification Methods for Backlash and Gear Play....Pages 1-30
Adaptive Dead Zone Inverses for Possibly Nonlinear Control Systems....Pages 31-47
Deadzone Compensation in Motion Control Systems Using Augmented Multilayer Neural Networks....Pages 49-84
On-line Fault Detection, Diagnosis, Isolation and Accommodation of Dynamical Systems with Actuator Failures....Pages 85-110
Adaptive Control of Systems with Actuator Failures....Pages 111-156
Multi-mode System Identification....Pages 157-190
On Feedback Control of Processes with ‘Hard’ Nonlinearities....Pages 191-210
Adaptive Friction Compensation for Servo Mechanisms....Pages 211-248
Relaxed Controls and a Class of Active Material Actuator Models....Pages 249-272
Robust Adaptive Control of Nonlinear Systems with Dynamic Backlash-like Hysteresis....Pages 273-288
Adaptive Control of a Class of Time-delay Systems in the Presence of Saturation....Pages 289-310
Adaptive Control for Systems with Input Constraints — A Survey....Pages 311-332
Robust Adaptive Control of Input Rate Constrained Discrete Time Systems....Pages 333-348
Adaptive Control of Linear Systems with Poles in the Closed LHP with Constrained Inputs....Pages 349-359
Adaptive Control with Input Saturation Constraints....Pages 361-381
Adaptive Control of Linear Systems with Unknown Time Delay....Pages 383-401
Back Matter....Pages 403-407

✦ Subjects

Control, Robotics, Mechatronics;Systems Theory, Control;Manufacturing, Machines, Tools;Artificial Intelligence (incl. Robotics);Theoretical and Computational Chemistry;Complexity