Nonlinear and Adaptive Control with Applications

By: Alessandro Astolfi, Dimitrios Karagiannis, Romeo Ortega

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Hardcover | 7 December 2007

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312 Pages

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Nonlinear and Adaptive Control with Applications provides a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. The authors employ a new tool based on the ideas of system immersion and manifold invariance. Departing, in part, from the Lyapunov-function approach of classical control, new algorithms are delivered for the construction of robust asymptotically-stabilising and adaptive control laws for nonlinear systems. The methods proposed lead to modular schemes. These algorithms cater for nonlinear systems with both parametric and dynamic uncertainties. This innovative strategy is illustrated with several examples and case studies from real applications: power converters, electrical machines, mechanical systems, autonomous aircraft and computer vision. Researchers working on adaptive and nonlinear control theory or on control applications will find this monograph of interest.

Industry Reviews

From the reviews:

"The authors present a comprehensive description of a new nonlinear and adaptive control synthesis approach ... . It was a pleasure to read the book. ... The main idea of each proposed solution is first clearly described, illustrated by a motivating example and then put into rigorous mathematical theorems and derivations. ... The book is well written. ... I'm sure that this book would be a welcome addition to the library of any researcher and practitioner working on nonlinear control." (Jacek Kabzinski, Mathematical Reviews, Issue 2011 j)

"The book Nonlinear and Adaptive Control with Applications ... guides the reader through the development of a collection of tools based on an immersion and invariance (I&I) methodology. ... this book provides a highly readable exposition of the main I&I design concepts. ... This book is a joy to read and is accessible to graduate-level researchers in nonlinear control as well as practitioners with graduate degrees. The tools developed in this book using the I&I methodology are a welcome addition to any nonlinear control toolbox." (Randy Freeman, IEEE Control Systems Magazine, Vol. 31, April, 2011)

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Notation	p. xv
Introduction	p. 1
An I&I Perspective of Stabilisation	p. 2
Discussion and Literature Review	p. 4
Applications of I&I	p. 6
Robustification of Control Laws	p. 6
Underactuated Mechanical Systems	p. 9
Systems in Special Forms	p. 9
Adaptive Control	p. 11
Observer Design	p. 12
Nonlinear PI Control	p. 13
I&I Stabilisation	p. 15
Main Stabilisation Result	p. 15
Systems with Special Structures	p. 19
Physical Systems	p. 24
I&I Adaptive Control: Tools and Examples	p. 33
Introduction	p. 33
An Introductory Example	p. 35
Revisiting Classical Adaptive Control	p. 38
Direct Cancellation with Matching	p. 38
Direct Cancellation with Extended Matching	p. 39
Direct Domination	p. 40
Indirect Approach	p. 40
Discussion	p. 40
Linearly Parameterised Plant	p. 42
Linearly Parameterised Control	p. 47
Example: Visual Servoing	p. 49
I&I Adaptive Control: Systems in Special Forms	p. 55
Introduction	p. 55
Systems in Feedback Form	p. 57
Adaptive Control Design	p. 58
Asymptotic Properties of Adaptive Controllers	p. 59
Unknown Control Gain	p. 61
Unmatched Uncertainties	p. 63
Lower Triangular Systems	p. 67
Estimator Design	p. 68
Controller Design	p. 70
Estimator Design using Dynamic Scaling	p. 74
Linear Systems	p. 78
Linear SISO Systems	p. 79
Linear Multivariable Systems	p. 81
Nonlinear Observer Design	p. 91
Introduction	p. 92
Reduced-order Observers	p. 93
Systems with Monotonic Nonlinearities Appearing in the Output Equation	p. 100
Mechanical Systems with Two Degrees of Freedom	p. 107
Model Description	p. 107
Observer Design	p. 108
Non-diagonal Inertia Matrix with Bounded Entries	p. 110
Diagonal Inertia Matrix	p. 111
Example: Ball and Beam	p. 112
Robust Stabilisation via Output Feedback	p. 115
Introduction	p. 116
Linearly Parameterised Systems	p. 117
Control Design Using a Separation Principle	p. 121
Systems with Monotonic Nonlinearities Appearing in the Output Equation	p. 124
Systems in Output Feedback Form	p. 129
Robust Output Feedback Stabilisation	p. 133
Robust Observer Design	p. 135
Stabilisation via a Small-gain Condition	p. 136
Systems Without Zero Dynamics	p. 140
Systems with ISS Zero Dynamics	p. 141
Unperturbed Systems	p. 141
Linear Nonminimum-phase Systems	p. 142
Example: Translational Oscillator/Rotational Actuator	p. 145
Nonlinear PI Control of Uncertain Systems	p. 151
Introduction	p. 151
Control Design	p. 154
Bounded Uncertainty	p. 154
Comparison with Adaptive Control	p. 157
Extensions	p. 157
Unbounded Uncertainty	p. 159
Unknown Control Direction	p. 161
State Feedback	p. 161
Observer-based Design	p. 164
Robustness	p. 165
Example: Visual Servoing	p. 167
Electrical Systems	p. 173
Power Flow Control Using TCSC	p. 173
Problem Formulation	p. 174
Modified Model of the TCSC	p. 175
Controller Design	p. 176
Simulation Results	p. 178
Partial State Feedback Control of the DC-DC Cuk Converter	p. 179
Problem Formulation	p. 181
Full-information Controller	p. 182
I&I Adaptive Observer	p. 184
Partial State Feedback Controller	p. 186
Simulation Results	p. 188
Output Feedback Control of the DC-DC Boost Converter	p. 189
Problem Formulation	p. 192
Full-information Controller	p. 193
Output Feedback Controller	p. 194
Experimental Results	p. 197
A Remark on Robustness	p. 198
Adaptive Control of the Power Factor Precompensator	p. 200
Problem Formulation	p. 201
Full-information Controllers	p. 203
I&I Adaptation	p. 205
Experimental Results	p. 207
Mechanical Systems	p. 211
Control of Flexible Joints Robots	p. 211
Control Design	p. 213
A 2-DOF Flexible Joints Robot	p. 216
A 3-DOF Flexible Joints Robot	p. 217
Position-feedback Control of a Two-link Manipulator	p. 218
Observer Design	p. 219
State Feedback Controller	p. 220
Output Feedback Design	p. 222
Simulation Results	p. 223
Adaptive Attitude Control of a Rigid Body	p. 226
Model Description	p. 226
Controller Design	p. 227
Estimator Design	p. 228
Simulation Results	p. 229
Trajectory Tracking for Autonomous Aerial Vehicles	p. 229
Model Description	p. 230
Controller Design	p. 231
Airspeed Regulation	p. 233
Simulation Results	p. 234
Electromechanical Systems	p. 237
Observer Design for Single-machine Infinite-bus Systems	p. 237
Model Description	p. 238
Controller Design	p. 239
Observer Design	p. 239
Simulation Results	p. 241
Adaptive Control of Current-fed Induction Motors	p. 243
Problem Formulation	p. 244
Estimator Design	p. 246
Rotor Flux Estimation	p. 247
Controller Design	p. 248
Simulation Results	p. 249
Speed/Flux Tracking for Voltage-fed Induction Motors	p. 252
Problem Formulation	p. 252
Nonlinear Control Design	p. 254
Adaptive Control Design	p. 258
Simulations and Experimental Results	p. 262
Background Material	p. 269
Lyapunov Stability and Convergence	p. 269
Input-to-state Stability	p. 271
Invariant Manifolds and System Immersion	p. 273
References	p. 275
Index	p. 289
Table of Contents provided by Ingram. All Rights Reserved.

Nonlinear and Adaptive Control with Applications

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