Safe Adaptive Control Data-Driven Stability Analysis and Robust Synthesis

✍ Scribed by Stefanovic, Margareta;Safonov, Michael G

• Publisher: Springer London
• Year: 2011
• Tongue: English
• Leaves: 153
• Series: Lecture Notes in Control and Information Sciences 405
• Category: Library

✦ Synopsis

Safe Adaptive Controlgives a formal and complete algorithm for assuring the stability of a switched control system when at least one of the available candidate controllers is stabilizing. The possibility of having an unstable switched system even in the presence of a stabilizing candidate controller is demonstrated by referring to several well-known adaptive control approaches, where the system goes unstable when a large mismatch between the unknown plant and the available models exists ("plant-model mismatch instability"). Sufficient conditions for this possibility to be avoided are formulated, and a "recipe" to be followed by the control system designer to guarantee stability and desired performance is provided. The problem is placed in a standard optimization setting. Unlike the finite controller sets considered elsewhere, the candidate controller set is allowed to be continuously parametrized so that it can deal with plants with a very large range of uncertainties.

✦ Table of Contents

Cover......Page 1
Further Comparison with the Multiple Model Based Switching Control......Page 4
Monograph Overview......Page 10
Preliminaries......Page 3
Results......Page 8
Discussion of the Adaptive Control Problem......Page 12
Radial Basis Function Neural Networks in Safe Switching Control......Page 14
Treatment of the Time-Varying Plants......Page 17
Behavioral Approach to Controller Unfalsification......Page 20
Performance Improvement......Page 13
Monograph Overview......Page 21
Performance Improvement Using Bandpass Filters......Page 31
Treatment of the Time-Varying Plants......Page 39
Unfalsified Adaptive Spacecraft Attitude Control......Page 43
Switching Control of Missile Autopilot......Page 50
Switching Congestion Control for Satellite TCP/AQM Networks......Page 56
Unfalsified Direct Adaptive Control of a Two-Link Robot Arm......Page 75
Front Matter......Page 2
Part I Overview of Adaptive Control......Page 11
Brief History Overview......Page 15
Part II Safe Switching Adaptive Control......Page 22
Background......Page 23
Preliminaries......Page 25
Results......Page 30
Cost Function Example......Page 34
Specialization to the LTI Plants......Page 36
Behavioral Approach to Controller Unfalsification......Page 42
Benchmark Example......Page 49
Further Comparison with the Multiple Model Based Switching Control......Page 52
Performance Improvement......Page 61
Radial Basis Function Neural Networks in Safe Switching Control......Page 62
Bumpless Transfer with Slow-Fast Controller Decomposition......Page 69
Performance Improvement Using Bandpass Filters......Page 79
Automatic PID Tuning......Page 87
Unfalsified Adaptive Spacecraft Attitude Control......Page 91
Switching Control of Missile Autopilot......Page 98
Switching Congestion Control for Satellite TCP/AQM Networks......Page 104
Unfalsified Direct Adaptive Control of a Two-Link Robot Arm......Page 123
Conclusion......Page 137
Back Matter......Page 139