صورة الغلاف

Parameter estimation and adaptive control for nonlinear servo systems /

Parameter Estimation and Adaptive Control for Nonlinear Servo Systems presents the latest advances in observer-based control design, focusing on adaptive control for nonlinear systems such as adaptive neural network control, adaptive parameter estimation, and system identification.This book offers a...

وصف كامل

محفوظ في:
التفاصيل البيبلوغرافية
المؤلف الرئيسي: Wang, Shubo
مؤلفون آخرون: Na, Jing, Ren, Xuemei
التنسيق: كتاب الكتروني
اللغة:الإنجليزية
منشور في: [S.l.] : Academic Press, 2024.
الموضوعات:
Parameter estimation.
Adaptive control systems.
Servomechanisms > Control.
Nonlinear systems.
Estimation d'un paramètre.
Systèmes adaptatifs.
Systèmes non linéaires.
Servomécanismes > Lutte contre.
Adaptive control systems
Nonlinear systems
Parameter estimation
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جدول المحتويات:
  • Front Cover
  • Parameter Estimation and Adaptive Control for Nonlinear Servo Systems
  • Copyright
  • Contents
  • Acknowledgment
  • Introduction
  • 1 Introduction
  • 2 Prologue
  • 3 Objective of the book
  • 4 Book outline
  • I Modeling and control for servo systems with friction compensation
  • 1 Neural network-based adaptive funnel sliding mode control for servo mechanisms with friction compensation
  • 1.1 Introduction
  • 1.2 Problem formulation
  • 1.2.1 System model
  • 1.2.2 Modified LuGre friction model
  • 1.2.3 Neural networks (NNs) approximation
  • 1.3 Controller design
  • 1.3.1 Funnel control
  • 1.3.2 Adaptive controller design
  • 1.4 Stability analysis
  • 1.5 Experimental results
  • 1.5.1 Experimental setup
  • 1.5.2 Implementation of proposed controller
  • 1.6 Conclusion
  • References
  • 2 Robust adaptive tracking control for a servo mechanism with continuous friction compensation
  • 2.1 Introduction
  • 2.2 Problem formulation
  • 2.2.1 Servo mechanism model
  • 2.2.2 Friction model
  • 2.3 Controller design
  • 2.3.1 Robust controller design
  • 2.3.2 Convergence analysis
  • 2.4 Experimental results
  • 2.4.1 Experiment setup
  • 2.4.2 Implementation of proposed controller
  • 2.4.3 Experiments results
  • 2.5 Conclusion
  • References
  • II Modeling and control for servo systems with a dead-zone
  • 3 Neural-network-based adaptive funnel control for servo mechanisms with unknown dead-zone
  • 3.1 Introduction
  • 3.2 Problem statement
  • 3.2.1 System description
  • 3.2.2 Funnel control
  • 3.2.3 NN approximation
  • 3.3 Control design and stability analysis
  • 3.3.1 Finite-time command filter
  • 3.3.2 AFC design
  • 3.3.3 Stability analysis
  • 3.3.4 Controller implementation
  • 3.4 Experiment results
  • 3.4.1 Experiment equipment
  • 3.4.2 Servo system model
  • 3.4.3 Controller design
  • 3.5 Conclusion
  • References.
  • III Parameter estimation for servo systems with unknown parameters
  • 4 Finite time parameter estimation-based adaptive predefined performance control for servo mechanisms
  • 4.1 Introduction
  • 4.2 Problem formulation
  • 4.3 Adaptive funnel controller design
  • 4.3.1 Funnel control
  • 4.3.2 Adaptive funnel controller design
  • 4.4 Online parameter estimation
  • 4.5 Stability analysis
  • 4.6 Simulation results
  • 4.7 Experiment results
  • 4.7.1 Experiment setup
  • 4.7.2 Controller design
  • 4.8 Conclusion
  • References
  • 5 Adaptive optimal parameter estimation and control of servo mechanisms: theory and experiments
  • 5.1 Introduction
  • 5.2 Dynamic model and problem formulation
  • 5.3 Adaptive optimal parameter estimation
  • 5.3.1 Filter design
  • 5.3.2 Adaptive optimal parameter estimation
  • 5.4 Adaptive sliding mode controller design
  • 5.5 Stability analysis
  • 5.6 Simulation results
  • 5.7 Experiments
  • 5.7.1 Experiment setup
  • 5.7.2 Controller design
  • 5.7.3 Experiment results
  • 5.8 Conclusion
  • References
  • IV Disturbance rejection and control for servo systems
  • 6 USDE-based sliding mode control for servo mechanisms with unknown system dynamics
  • 6.1 Introduction
  • 6.2 Problem formulation
  • 6.3 Unknown system dynamics estimator (USDE) design
  • 6.4 Controller design
  • 6.4.1 New structural RL
  • 6.4.2 Controller design
  • 6.4.3 Stability analysis
  • 6.5 Simulation
  • 6.6 Experimental results
  • 6.6.1 Experimental setup
  • 6.6.2 Controller implementation
  • 6.6.3 Experimental results
  • 6.7 Conclusion
  • References
  • 7 Unknown input observer-based robust adaptive funnel motion control for nonlinear servo mechanisms
  • 7.1 Introduction
  • 7.2 Problem formulation
  • 7.3 Controller design
  • 7.3.1 Funnel control
  • 7.3.2 Funnel nonsingular terminal sliding mode controller (FNTSMC) design
  • 7.4 Unknown input observer design.
  • 7.5 Stability analysis
  • 7.6 Experimental studies
  • 7.6.1 Experimental setup
  • 7.6.2 Implementation of proposed controller
  • 7.6.3 Tracking performance
  • 7.6.4 Observer performance
  • 7.6.5 Performance comparison with ESO and SMO
  • 7.7 Conclusion
  • References
  • 8 Extended-state-observer based funnel control for nonlinear servo mechanisms with prescribed tracking performance
  • 8.1 Introduction
  • 8.2 Dynamic model and problem formulation
  • 8.3 Extended state observer design
  • 8.4 Funnel control and funnel variable
  • 8.5 Controller design and stability analysis
  • 8.5.1 Controller design
  • 8.5.2 Stability analysis
  • 8.6 Simulation results
  • 8.7 Experimental validation
  • 8.7.1 Experimental setup
  • 8.7.2 Controller design
  • 8.8 Conclusion
  • References
  • V Prescribed performance control for servo systems
  • 9 Adaptive predefined performance sliding mode control of motor driving systems with disturbances
  • 9.1 Introduction
  • 9.2 Problem formulation
  • 9.2.1 Dual-inertia system model
  • 9.2.2 Tracking error transformation
  • 9.3 Control design and analysis
  • 9.3.1 Adaptive integral terminal sliding mode control
  • 9.3.2 Convergence analysis
  • 9.4 Experiments
  • 9.4.1 Design of controllers
  • 9.4.2 Experimental results
  • 9.5 Conclusion
  • References
  • 10 Approximation-free control for nonlinear helicopters with unknown dynamics
  • 10.1 Introduction
  • 10.2 Preliminaries
  • 10.3 Problem formulation
  • 10.3.1 System dynamic model
  • 10.3.2 Prescribed performance control
  • 10.4 Approximation-free control design
  • 10.4.1 Control design
  • 10.4.2 Stability analysis
  • 10.5 Simulations
  • 10.6 Conclusion
  • References
  • VI Adaptive asymptotic tracking control for servo systems
  • 11 RISE-based asymptotic prescribed performance tracking control of nonlinear servo mechanisms
  • 11.1 Introduction.
  • 11.2 Problem formulation and preliminaries
  • 11.2.1 Dynamic model of servo mechanisms
  • 11.2.2 Function approximation using ESN
  • 11.2.3 Prescribed performance function
  • 11.3 Controller design
  • 11.3.1 Derivation of the filtered tracking error
  • 11.3.2 Controller design
  • 11.4 Stability analysis
  • 11.5 Experimental results
  • 11.5.1 Experimental setup
  • 11.5.2 Controller design
  • 11.5.3 Experimental results
  • 11.6 Conclusion
  • References
  • 12 Funnel tracking control for nonlinear servo drive systems with unknown disturbances
  • 12.1 Introduction
  • 12.2 System model
  • 12.3 Control development
  • 12.3.1 Funnel control
  • 12.3.2 Controller design
  • 12.4 Convergence analysis
  • 12.5 Practical implementation
  • 12.6 Experiment verification
  • 12.6.1 Experimental setup
  • 12.6.2 Controller design
  • 12.6.3 Practical results
  • 12.7 Conclusion
  • References
  • 13 Asymptotic tracking control for nonaffine systems with disturbances
  • 13.1 Introduction
  • 13.2 Problem formulation
  • 13.2.1 System model
  • 13.2.2 Coordinate transform
  • 13.2.3 Error transformation
  • 13.3 Control design
  • 13.3.1 Adaptive neural controller design
  • 13.3.2 Convergence analysis
  • 13.4 Experiment
  • 13.5 Conclusion
  • References
  • Index
  • Back Cover.

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