Content: Front Cover
Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics
Copyright
Dedication
Contents
About the Authors
Preface
Acknowledgment
Part 1 Introduction
1.1 Prologue
1.2 Objective of the Book
1.3 Book Outline
Part 2 Modeling and Control of Uncertain Systems With Friction
1 Friction Dynamics and Modeling
1.1 Introduction
1.2 Friction Dynamics and Models
1.2.1 Friction Dynamics
1.2.2 Classical Friction Models
1.2.3 Continuously Differentiable Friction Model
1.2.4 Discontinuous Piecewise Parametric Friction Model
1.3 Conclusion
References. 2 Adaptive Sliding Mode Control of Non-linear Servo Systems With LuGre Friction Model2.1 Introduction
2.2 System Description and Problem Formulation
2.3 Of ine Friction Identi cation
2.3.1 Glowworm Swarm Optimization
2.3.2 Static Parameters Identi cation
2.3.3 Dynamic Parameters Identi cation
2.4 Controller Design and Stability Analysis
2.4.1 Adaptive Non-linear Sliding Mode Control Design
2.4.2 Finite-Time Parameter Estimation
2.4.3 Stability Analysis
2.5 Simulations
2.6 Conclusion
References
3 Adaptive Dynamic Surface Control of Two-Inertia Systems With LuGre Friction Model. 3.1 Introduction3.2 Problem Formulation and Preliminaries
3.2.1 Modeling of Two-Inertia System
3.2.2 Echo State Network (ESN)
3.2.3 Prescribed Performance Function
3.2.4 High-Gain Tracking Differentiator
3.3 Controller Design and Stability Analysis
3.3.1 Luenberger Observer
3.3.2 Error Constraint Dynamic Surface Control Design
3.3.3 Friction Compensation With ESN
3.3.4 Stability Analysis
3.4 Simulation and Experiment
3.4.1 Simulation Results
3.4.2 Experiment Results
3.5 Conclusion
References. 4 Adaptive Prescribed Performance Control of Servo Systems With Continuously Differentiable Friction Model4.1 Introduction
4.2 Problem Formulation and Preliminaries
4.2.1 Dynamic Model of Servo System
4.2.2 Continuously Differentiable Friction Model
4.2.3 Neural Network Approximation
4.3 Adaptive Prescribed Performance Control Design
4.3.1 Prescribed Performance Function and Error Transform
4.3.2 Control Design and Stability Analysis
4.3.3 Practical Implementation
4.4 Experimental Validation
4.4.1 Experimental Setup
4.4.2 Experimental Results
4.5 Conclusion
References. 5 RISE Based Asymptotic Prescribed Performance Control of Servo Systems With Continuously Differentiable Friction Model5.1 Introduction
5.2 Problem Formulation and Preliminaries
5.2.1 Dynamic Model of Servo System
5.2.2 Function Approximation Using ESN
5.2.3 Prescribed Performance Function and Error Transform
5.3 RISE Based Adaptive Control Design and Analysis
5.3.1 Derivation of Filtered Tracking Error
5.3.2 Adaptive Control Design With RISE
5.3.3 Stability Analysis
5.4 Experimental Validation
5.4.1 Experimental Setup
5.4.2 Experimental Results
5.5 Conclusion
References.