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Safe Adaptive Control
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Book Synopsis Safe Adaptive Control by : Margareta Stefanovic
Download or read book Safe Adaptive Control written by Margareta Stefanovic and published by Springer Science & Business Media. This book was released on 2011-02-10 with total page 153 pages. Available in PDF, EPUB and Kindle. Book excerpt: Safe Adaptive Control gives 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.
Book Synopsis L1 Adaptive Control Theory by : Naira Hovakimyan
Download or read book L1 Adaptive Control Theory written by Naira Hovakimyan and published by SIAM. This book was released on 2010-09-30 with total page 333 pages. Available in PDF, EPUB and Kindle. Book excerpt: Contains results not yet published in technical journals and conference proceedings.
Book Synopsis Robust Adaptive Control by : Petros Ioannou
Download or read book Robust Adaptive Control written by Petros Ioannou and published by Courier Corporation. This book was released on 2013-09-26 with total page 850 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presented in a tutorial style, this comprehensive treatment unifies, simplifies, and explains most of the techniques for designing and analyzing adaptive control systems. Numerous examples clarify procedures and methods. 1995 edition.
Book Synopsis Adaptive Control by : Karl J. Åström
Download or read book Adaptive Control written by Karl J. Åström and published by Courier Corporation. This book was released on 2013-04-26 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: Suitable for advanced undergraduates and graduate students, this overview introduces theoretical and practical aspects of adaptive control, with emphasis on deterministic and stochastic viewpoints. 1995 edition.
Book Synopsis Adaptive Control Design and Analysis by : Gang Tao
Download or read book Adaptive Control Design and Analysis written by Gang Tao and published by John Wiley & Sons. This book was released on 2003-07-09 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: A systematic and unified presentation of the fundamentals of adaptive control theory in both continuous time and discrete time Today, adaptive control theory has grown to be a rigorous and mature discipline. As the advantages of adaptive systems for developing advanced applications grow apparent, adaptive control is becoming more popular in many fields of engineering and science. Using a simple, balanced, and harmonious style, this book provides a convenient introduction to the subject and improves one's understanding of adaptive control theory. Adaptive Control Design and Analysis features: Introduction to systems and control Stability, operator norms, and signal convergence Adaptive parameter estimation State feedback adaptive control designs Parametrization of state observers for adaptive control Unified continuous and discrete-time adaptive control L1+a robustness theory for adaptive systems Direct and indirect adaptive control designs Benchmark comparison study of adaptive control designs Multivariate adaptive control Nonlinear adaptive control Adaptive compensation of actuator nonlinearities End-of-chapter discussion, problems, and advanced topics As either a textbook or reference, this self-contained tutorial of adaptive control design and analysis is ideal for practicing engineers, researchers, and graduate students alike.
Book Synopsis Adaptive Control by : Shankar Sastry
Download or read book Adaptive Control written by Shankar Sastry and published by Courier Corporation. This book was released on 2011-01-01 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume surveys the major results and techniques of analysis in the field of adaptive control. Focusing on linear, continuous time, single-input, single-output systems, the authors offer a clear, conceptual presentation of adaptive methods, enabling a critical evaluation of these techniques and suggesting avenues of further development. 1989 edition.
Book Synopsis Learning for Adaptive and Reactive Robot Control by : Aude Billard
Download or read book Learning for Adaptive and Reactive Robot Control written by Aude Billard and published by MIT Press. This book was released on 2022-02-08 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.
Book Synopsis Adaptive Control of Systems with Actuator Failures by : Gang Tao
Download or read book Adaptive Control of Systems with Actuator Failures written by Gang Tao and published by Springer Science & Business Media. This book was released on 2004-04-02 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book shows readers new ways to compensate for disturbances in control systems prolonging the intervals between time-consuming and/or expensive fault diagnosis procedures, keeping them up to date in the increasingly important field of adaptive control.
Book Synopsis Model-Reference Adaptive Control by : Nhan T. Nguyen
Download or read book Model-Reference Adaptive Control written by Nhan T. Nguyen and published by Springer. This book was released on 2018-03-01 with total page 453 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook provides readers with a good working knowledge of adaptive control theory through applications. It is intended for students beginning masters or doctoral courses, and control practitioners wishing to get up to speed in the subject expeditiously. Readers are taught a wide variety of adaptive control techniques starting with simple methods and extending step-by-step to more complex ones. Stability proofs are provided for all adaptive control techniques without obfuscating reader understanding with excessive mathematics. The book begins with standard model-reference adaptive control (MRAC) for first-order, second-order, and multi-input, multi-output systems. Treatment of least-squares parameter estimation and its extension to MRAC follow, helping readers to gain a different perspective on MRAC. Function approximation with orthogonal polynomials and neural networks, and MRAC using neural networks are also covered. Robustness issues connected with MRAC are discussed, helping the student to appreciate potential pitfalls of the technique. This appreciation is encouraged by drawing parallels between various aspects of robustness and linear time-invariant systems wherever relevant. Following on from the robustness problems is material covering robust adaptive control including standard methods and detailed exposition of recent advances, in particular, the author’s work on optimal control modification. Interesting properties of the new method are illustrated in the design of adaptive systems to meet stability margins. This method has been successfully flight-tested on research aircraft, one of various flight-control applications detailed towards the end of the book along with a hybrid adaptive flight control architecture that combines direct MRAC with least-squares indirect adaptive control. In addition to the applications, understanding is encouraged by the use of end-of-chapter exercises and associated MATLAB® files. Readers will need no more than the standard mathematics for basic control theory such as differential equations and matrix algebra; the book covers the foundations of MRAC and the necessary mathematical preliminaries.
Book Synopsis Reliable Control and Filtering of Linear Systems with Adaptive Mechanisms by : Guang-Hong Yang
Download or read book Reliable Control and Filtering of Linear Systems with Adaptive Mechanisms written by Guang-Hong Yang and published by CRC Press. This book was released on 2018-09-03 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt: More and more, the advanced technological systems of today rely on sophisticated control systems designed to assure greater levels of safe operation while optimizing performance. Rather than assuming always perfect conditions, these systems require adaptive approaches capable of coping with inevitable system component faults. Conventional feedback control designs do not offer that capability and can result in unsatisfactory performance or even instability, which is totally unacceptable in complex systems such as aircraft, spacecraft, and nuclear power plants where safety is a paramount concern. Reliable Control and Filtering of Linear Systems with Adaptive Mechanisms presents recent research results that are advancing the field. It shows how adaptive mechanisms can be successfully introduced into the traditional reliable control/filtering, so that, based on the online estimation of eventual faults, the proposed adaptive reliable controller/filter parameters are updated automatically to compensate for any fault effects. Presenting a new method for fault-tolerant control (FTC) in the context of existing research, this uniquely cohesive volume, coauthored by two leading researchers — Focuses on the issues of reliable control/filtering in the framework of indirect adaptive method and LMI techniques Starts from the development and main research methods in FTC to offer a systematic presentation of new methods for adaptive reliable control/filtering of linear systems Explains the principles behind adaptive designs for closed-loop systems in normal operation as well as those that account for both actuator and sensor failures Presents rigorous mathematical analysis of control methods as well as easy-to-implement algorithms Includes practical case studies derived from the aerospace industry including simulation results for the F-16 The authors also extend the design idea from linear systems to linear time-delay systems via both memory and memory-less controllers. Moreover, some more recent results for the corresponding adaptive reliable control against actuator saturation are included. Ultimately, this remarkably practical resource, offers design approaches and guidelines that researchers can readily employ in the design of advanced FTC techniques offering improved reliability, maintainability, and survivability.
Book Synopsis Adaptive Control Approach for Software Quality Improvement by : W. Eric Wong
Download or read book Adaptive Control Approach for Software Quality Improvement written by W. Eric Wong and published by World Scientific. This book was released on 2011 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the topic of improving software quality using adaptive control approaches. As software systems grow in complexity, some of the central challenges include their ability to self-manage and adapt at run time, responding to changing user needs and environments, faults, and vulnerabilities. Control theory approaches presented in the book provide some of the answers to these challenges. The book weaves together diverse research topics (such as requirements engineering, software development processes, pervasive and autonomic computing, service-oriented architectures, on-line adaptation of software behavior, testing and QoS control) into a coherent whole. Written by world-renowned experts, this book is truly a noteworthy and authoritative reference for students, researchers and practitioners to better understand how the adaptive control approach can be applied to improve the quality of software systems. Book chapters also outline future theoretical and experimental challenges for researchers in this area.
Book Synopsis Adaptive Control of Systems with Actuator and Sensor Nonlinearities by : Gang Tao
Download or read book Adaptive Control of Systems with Actuator and Sensor Nonlinearities written by Gang Tao and published by Wiley-Interscience. This book was released on 1996-05-23 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: The authors present an effective approach to handle some of the most common types of component imperfections encountered in industrial automation, consumer electroncis, and defence and transportation systems.
Book Synopsis Adaptive Filtering Prediction and Control by : Graham C Goodwin
Download or read book Adaptive Filtering Prediction and Control written by Graham C Goodwin and published by Courier Corporation. This book was released on 2014-05-05 with total page 562 pages. Available in PDF, EPUB and Kindle. Book excerpt: This unified survey focuses on linear discrete-time systems and explores natural extensions to nonlinear systems. It emphasizes discrete-time systems, summarizing theoretical and practical aspects of a large class of adaptive algorithms. 1984 edition.
Book Synopsis Applications of Neural Adaptive Control Technology by : Jens Kalkkuhl
Download or read book Applications of Neural Adaptive Control Technology written by Jens Kalkkuhl and published by World Scientific. This book was released on 1997 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the results of the second workshop on Neural Adaptive Control Technology, NACT II, held on September 9-10, 1996, in Berlin. The workshop was organised in connection with a three-year European-Union-funded Basic Research Project in the ESPRIT framework, called NACT, a collaboration between Daimler-Benz (Germany) and the University of Glasgow (Scotland).The NACT project, which began on 1 April 1994, is a study of the fundamental properties of neural-network-based adaptive control systems. Where possible, links with traditional adaptive control systems are exploited. A major aim is to develop a systematic engineering procedure for designing neural controllers for nonlinear dynamic systems. The techniques developed are being evaluated on concrete industrial problems from within the Daimler-Benz group of companies.The aim of the workshop was to bring together selected invited specialists in the fields of adaptive control, nonlinear systems and neural networks. The first workshop (NACT I) took place in Glasgow in May 1995 and was mainly devoted to theoretical issues of neural adaptive control. Besides monitoring further development of theory, the NACT II workshop was focused on industrial applications and software tools. This context dictated the focus of the book and guided the editors in the choice of the papers and their subsequent reshaping into substantive book chapters. Thus, with the project having progressed into its applications stage, emphasis is put on the transfer of theory of neural adaptive engineering into industrial practice. The contributors are therefore both renowned academics and practitioners from major industrial users of neurocontrol.
Book Synopsis Adaptive Control Tutorial by : Petros Ioannou
Download or read book Adaptive Control Tutorial written by Petros Ioannou and published by SIAM. This book was released on 2006-01-01 with total page 401 pages. Available in PDF, EPUB and Kindle. Book excerpt: Designed to meet the needs of a wide audience without sacrificing mathematical depth and rigor, Adaptive Control Tutorial presents the design, analysis, and application of a wide variety of algorithms that can be used to manage dynamical systems with unknown parameters. Its tutorial-style presentation of the fundamental techniques and algorithms in adaptive control make it suitable as a textbook. Adaptive Control Tutorial is designed to serve the needs of three distinct groups of readers: engineers and students interested in learning how to design, simulate, and implement parameter estimators and adaptive control schemes without having to fully understand the analytical and technical proofs; graduate students who, in addition to attaining the aforementioned objectives, also want to understand the analysis of simple schemes and get an idea of the steps involved in more complex proofs; and advanced students and researchers who want to study and understand the details of long and technical proofs with an eye toward pursuing research in adaptive control or related topics. The authors achieve these multiple objectives by enriching the book with examples demonstrating the design procedures and basic analysis steps and by detailing their proofs in both an appendix and electronically available supplementary material; online examples are also available. A solution manual for instructors can be obtained by contacting SIAM or the authors. Preface; Acknowledgements; List of Acronyms; Chapter 1: Introduction; Chapter 2: Parametric Models; Chapter 3: Parameter Identification: Continuous Time; Chapter 4: Parameter Identification: Discrete Time; Chapter 5: Continuous-Time Model Reference Adaptive Control; Chapter 6: Continuous-Time Adaptive Pole Placement Control; Chapter 7: Adaptive Control for Discrete-Time Systems; Chapter 8: Adaptive Control of Nonlinear Systems; Appendix; Bibliography; Index
Book Synopsis Adaptive and Learning-Based Control of Safety-Critical Systems by : Max Cohen
Download or read book Adaptive and Learning-Based Control of Safety-Critical Systems written by Max Cohen and published by Springer Nature. This book was released on 2023-06-16 with total page 209 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book stems from the growing use of learning-based techniques, such as reinforcement learning and adaptive control, in the control of autonomous and safety-critical systems. Safety is critical to many applications, such as autonomous driving, air traffic control, and robotics. As these learning-enabled technologies become more prevalent in the control of autonomous systems, it becomes increasingly important to ensure that such systems are safe. To address these challenges, the authors provide a self-contained treatment of learning-based control techniques with rigorous guarantees of stability and safety. This book contains recent results on provably correct control techniques from specifications that go beyond safety and stability, such as temporal logic formulas. The authors bring together control theory, optimization, machine learning, and formal methods and present worked-out examples and extensive simulation examples to complement the mathematical style of presentation. Prerequisites are minimal, and the underlying ideas are accessible to readers with only a brief background in control-theoretic ideas, such as Lyapunov stability theory.
Book Synopsis Learning-Based Adaptive Control by : Mouhacine Benosman
Download or read book Learning-Based Adaptive Control written by Mouhacine Benosman and published by Butterworth-Heinemann. This book was released on 2016-08-02 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: Adaptive control has been one of the main problems studied in control theory. The subject is well understood, yet it has a very active research frontier. This book focuses on a specific subclass of adaptive control, namely, learning-based adaptive control. As systems evolve during time or are exposed to unstructured environments, it is expected that some of their characteristics may change. This book offers a new perspective about how to deal with these variations. By merging together Model-Free and Model-Based learning algorithms, the author demonstrates, using a number of mechatronic examples, how the learning process can be shortened and optimal control performance can be reached and maintained. - Includes a good number of Mechatronics Examples of the techniques. - Compares and blends Model-free and Model-based learning algorithms. - Covers fundamental concepts, state-of-the-art research, necessary tools for modeling, and control.
