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[(Nonlinear and Adaptive Control of Complex Systems )] by Alexander L. Fradkov, Iliya V. Miroshnik, Vladimir O.

By Alexander L. Fradkov, Iliya V. Miroshnik, Vladimir O. Nikiforov (auth.)

This quantity offers a theoretical framework and keep watch over method for a category of advanced dynamical platforms characterized by way of excessive nation house measurement, a number of inputs and outputs, major nonlinearity, parametric uncertainty, and unmodeled dynamics. a distinct function of the authors' process is the combo of rigorous techniques and strategies of nonlinear regulate (invariant and attracting submanifolds, Lyapunov features, particular linearisation, passification) with approximate decomposition effects according to singular perturbations and decentralisation. a few effects released formerly within the Russian literature and never renowned within the West are dropped at gentle. uncomplicated techniques of recent nonlinear keep watch over and motivating examples are given.
Audience: This booklet could be beneficial for researchers, engineers, collage academics and postgraduate scholars specialising within the fields of utilized arithmetic and engineering, resembling automated keep an eye on, robotics, and regulate of vibrations.

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Extra resources for [(Nonlinear and Adaptive Control of Complex Systems )] [Author: Alexander L. Fradkov] [Dec-2010]

Example text

X lO+x2o)ex p(-6 t) . ate s paco Z • '. :1: 31 + ;c 2 = O. Th e latt er co u t ai ns th e state eq u ilibr iu m point x" = 0 if, for instan ce . fl (x t} = - Xl (s ee Fi gure 2 . 2 ). fJ = co ns t j 0 , it does 0 no t co ntain eq uilib riurn poin t s at a ll. We d efine tho neighb orh ood o f t. ed open se t [ ( Z-) C X containi ng Z- and give the follo win g no t ion s. 18 . 3),. h resp e ct to the funct ion 0 when ihere CHAPTER 2 42 exists a neiqhborhood [( Z*) where the system is complete arul the mapping Xo -+ ~(t, xo), t 2: 0.

H tn rotation al joints . 1Ie robot joint (generalized) coordinates q = {qj} (and their rat es ) and establish the connect ion with the cont rolled in pu 1. 2) . he 13 FACES OF COMPLEXITY end-point y = {yj} E ]R3 associated with robot outputs are defined by the equation of Direct Kinernatics y = h(q). 9) . he robot is more than 3, we Iace a redundant mechanisrn, whose kinernatics cannot be uniquely defined by the end-point position y . The correct problern statement for a redundant robot implies introducing a sufficient number of additional holonomic restrictions.

22 CHAPTER 1 ing the problems of adaptive, robust adaptive and robust nonlinear control. , when there are no external disturbances or unmodelled dynamics , and the plant model uncertainties are presented by 30 vector of constant unknown parameters. 0 be of a pure integral type which provides remaining in "memory" 30 constant tuned value of (J. 0 as an adaptation algorithm (01' adaptation law) . 21). Thus , the system of adaptive control can be defined in the following mannet. 1. The conirol law (1.

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