Download Adaptive Control of Nonsmooth Dynamic Systems by Mattias Nordin, Per Bodin, Per-Olof Gutman (auth.), Gang Tao PDF

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

ISBN-10: 1849968691

ISBN-13: 9781849968690

A entire connection with adaptive keep watch over of structures with nonsmooth nonlinearities such as:

• backlash;

• dead-zones;

• part failure;

• friction;

• hysteresis;

• saturation;

• time delays.

These nonlinearities in commercial actuators reason serious difficulties within the movement keep watch over of commercial approaches, fairly in view of recent specifications for velocity and precision of move, similar to ensue in semiconductor production, precision machining and in different places. Actuator nonlinearities are ubiquitous in engineering perform and restrict keep watch over procedure performance.

While regular suggestions keep an eye on on my own can't deal with those nonsmooth nonlinearities successfully, this publication, with unified and systematic adaptive layout equipment constructed in sixteen chapters, indicates how such nonlinear features should be successfully compensated for through the use of adaptive and clever keep watch over strategies. this permits wanted process functionality to be completed within the presence of doubtful nonlinearities.

With vast surveys of literature and finished summaries of assorted layout tools the authors of the booklet chapters, who're specialists of their components of curiosity, current new ideas to a few vital matters in adaptive keep an eye on of platforms with quite a few kinds of nonsmooth nonlinearities.

In addition to delivering ideas, the publication is additionally geared toward motivating extra examine actions within the vital box of adaptive keep watch over of nonsmooth nonlinear commercial structures by way of formulating numerous tough open difficulties in similar areas.

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Additional resources for Adaptive Control of Nonsmooth Dynamic Systems

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E. A. Freeman. The effect of speed dependent friction and backlash on the stability of automatic control systems. Transaction of the American lEE, 7:680690, 1959. 12. A. E. Vander Velde. Multiple-Input Describing Functions and Nonlinear System Design. McGraw-Hill, 1968. 13. J. H. Liversidge. Backlash and Resilience within Glosed Loop of Automatie Gontrol Systems. Academic Press, 1952. 14. M. Nordin. Uncertain systems with backlash: Analysis, identification and synthesis. Licenciate thesis, trita/mat-95-os3, Royal Institute of Technology, 1995.

Gutman. Quantative design of a dass of nonlinear systems with parameter uncertainty. Int. J. 0/ Robust and Nonlinear Gontrol, 4:101-117,1994. 18. S. Oldak and P. O. Gutman. Self oscillating adaptive design of system with dry friction and significant parametric uncertainty. Int. J. of Adaptive Gontrol and Signal Processing, 9:239-253, 1995. 19. J. Peschon. Disciplines and Techniques of Systems Gontrol. Blanisdell, New York,1965. 20. G. Tao and P. Kokotovic. Adaptive control of systems with backlash.

T) = br(tl), t E [h, h + 8]. A contradiction occurs. If u(t) is not always less than or equal to zero for all t E [tl, tl + 8], say, u(t) :::; 0, tE [h, r) C [h, tl + 8] and u(r) > 0, then, v(r) f. (tt} = ,;;(;) > br . (t) < m r , tE [h, h + 8]. (tt} > mr, there are again two possibilities. u(t) :::; 0, tE [h, tt + 8] and u(t) is not always less than or equal to zero for all t E [tl, tl + 8]. (tt} = br . A contradiction occurs. (T) + 0;. (r) ( - ( ) _ 2 m T m in;. (h) > mr . It follows that This again contradicts the hypothesis.

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