Adaptive Control System Part 5 pptx

... bound (5. 42) is proportional to the total number of switchings made by the controller Adaptive Control Systems 93 optimal switching controller (5. 48), (5. 49) applied to an LTI plant (5. 14) satis®es ... unresolved. For example: 84 Adaptive stabilization of uncertain discrete-time systems 0 50 100 −1 −0 .5 0 0 .5 1 x 10 9 output (a) 0 50 10 0 −2 −1 0 1 2 controller gain (b) Figur...

Ngày tải lên: 10/08/2014, 21:22

... Process Control. Prentice-Hall, Englewood Clis, NJ. Adaptive Control Systems 21 0 50 100 150 200 250 −1 −0 .5 0 0 .5 1 1 .5 2 time t (second) output value y system output r(t)=1 0 100 200 300 −1 .5 −1 −0 .5 0 0 .5 1 1 .5 time ... have presented a general systematic theory for the design and analysis of robust adaptive internal model control schemes. The certainty Adaptiv...

Ngày tải lên: 10/08/2014, 21:22

... equivalence control laws, 9± 12, 15 16 adaptive H 2 optimal control, 11, 13± 14, 18±19 adaptive H optimal control, 11±12, 13, 14, 18±19 model reference adaptive control, 10±11, 13, 14, 18 partial adaptive ... feedback passivation, 136±8 controlled Dung equations, 1 35 6 recursive adaptive passivation, 131 5 Adaptive robust control, see Robust adaptive control Adaptiv...

Ngày tải lên: 10/08/2014, 21:22

... plotted in Figure 15. The control gains are chosen to be ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ = 10 05. 1 p k , ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ = 10 0 35. 2 θ k , 286 Adaptive Control Theorem : Consider the 3-D overhead crane system as mathematically ... 30 40 50 -2 -1 0 1 2 3 4 Time ( s ) Fig. 5. Adaptive Hysteresis Pre-inversion Compensator )(tv On the Adaptive Tracking Control of 3-D Overhead Crane Syst...

Ngày tải lên: 21/06/2014, 19:20

... 1 1 2  ~ t T Pt À1 ~ t ~ Ct  1 T  À1 ~ Ct  1 2:24 Adaptive Control Systems 33 Theorem 5. 1 The direct adaptive control system satisfying assumptions (A1)± (A3) with the adaptive controller described in equations ... the closed loop system remain bounded; Adaptive Control Systems 55 [24] Lazono-Leal, R., Dion, J. and Dugard, L. (1993). `Singularity Fr...

Ngày tải lên: 10/08/2014, 21:22

... WITH modi®cation of parameter estimates 0 5 10 15 20 25 30 35 40 45 50 −1 −0 .5 0 0 .5 1 k Det(B) WITHOUT Mod 0 5 10 15 20 25 30 35 40 45 50 −1 −0 .5 0 0 .5 1 k Det(B) WITH Mod k k Figure 4.2 Up: ... zeroes are respectively (1, 2) and 1 .5. In this way matrices B; B H ; G; D are: B  1 :51 2 :51 :5 ! ; B H  À10 :52 :5 À22 :54 :5 ! ; G  00 10 ! ; D  À14 15 À30 31 ! 4...

Ngày tải lên: 10/08/2014, 21:22

... 1; FFF; 600 corresponding to Adaptive Control Systems 109 0 50 10 0 5 0 5 output (b) 0 50 100 5 0 5 control (c) 0 50 100 0 200 400 600 switching index (a) Figure 5. 4 Example of localization: ... (19 95) `Adaptive Control of Linear Unstructured Time- varying Systems', Int. J. Control. , 62, 3, 52 7 55 5. [33] Praly, L., Marino, R. and Kanellakopoulos, I. (eds) (199...

Ngày tải lên: 10/08/2014, 21:22

...  1  2  1 2 2    2 À  2  2 . Adaptive Control Systems 1 35 and that @V 2 @   x;   @V 1 @   ;  À " y T @# 1 @   ;  ; 6:60 with (6 .52 ), (6 .53 ) and (6 .55 ), simple computation ... 0 :5 2 w 2 2 À  p 4   p À p 2 À 0:5jzj 2   p 4 p 2 6: 155  In other words  V ÀcV   p 4 p 2 6: 156  with c  min f 1 À 1ml 2 ; 2 ; 0 :5 p ; 0 :5 mx P...

Ngày tải lên: 10/08/2014, 21:22

... (19 95) `Robust Adaptive Nonlinear Control with Guaranteed Transient Performance', Proceedings of the American Control Conference, Washington, 250 0± 250 4. 158 Adaptive nonlinear control: passivation ... 181±189. [32] Marino, R. and Tomei, P. (19 95) Nonlinear Control Design: Geometric, Adaptive and Robust. Prentice-Hall, Europe. Adaptive Control Systems 157 of the st...

Ngày tải lên: 10/08/2014, 21:22

... achieve adaptive stabilization of (8 .5) it is necessary and sucient to achieve nonadaptive stabilization of (8.9). Noting that for ~ t0 the system (8 .5) reduces to the nonadaptive system  e ... seek dynamic feedback controllers to stabilize system (8 .5) for all . Adaptive Control Systems 187 we get  V Wt; e;  8:22 Thus the equilibrium e  0; ~   0 of (8 .5) ,...

Ngày tải lên: 10/08/2014, 21:22