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"Adaptive control systems."
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High-performance adaptive control of teleoperation systems
\"Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperation, the homogeneous and heterogeneous teleoperation, and the single-master single-slave and multi-master multi-slave teleoperation. The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperation, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance control for teleoperation systems to improve the transient-state and steady-state synchronization performances. This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful for graduate students in the fields of science, engineering, and computer science\"-- Provided by publisher.
Book
Model Free Adaptive Control
The book summarizes theory and applications of data-driven model-free adaptive control (MFAC) which is different from the traditional adaptive control. The traditional unmodeled dynamics do not exist in MFAC framework. In addition, MFAC is suitable for many practical applications since it is easily implemented and has strong robustness. By reading this book, readers become familiar with MFAC in a short time, and can quickly carry out their independent research and applications.
eBook
Worm-Like Locomotion Systems
Das zentrale Objekt der Theorie der wurmartigen Fortbewegung ist ein mechanisches System in Form einer Kette von Massenpunkten, die ihre unidirektionale Beweglichkeit mittels idealer Spikes erhalten. Davon ausgehend werden Kinematik, Dynamik und Steuerung derartiger Systeme untersucht. Bei den Steuerungsaufgaben stehen adaptive Regler im Vordergrund, da etwa Systemparameter und externe Parameter mit Unsicherheiten behaftet sind. Für Haft- und Gleitreibung werden verschiedene Modelle angegeben und diskutiert, die sogenanntes Stick-Slip-Verhalten realisieren.
eBook
Digital design of adaptive repetitive control of linear systems with time-varying periodic disturbances
The repetitive control is well known for rejecting the periodic disturbances. However, most of the existing repetitive control algorithms assume that either the plant is known or the disturbance period is fixed. This study proposes the digital design of adaptive repetitive control for a class of linear systems subject to time-varying periodic disturbances, whose periods are assumed to be identifiable. The proposed control is based on the direct adaptive control scheme and the internal model principle. A comparative study is conducted and the effectiveness of the approach is verified in simulations and experiments on a servo motor system.
Journal Article
Signals and Boundaries
Complex adaptive systems (cas), including ecosystems, governments, biological cells, and markets, are characterized by intricate hierarchical arrangements of boundaries and signals. In ecosystems, for example, niches act as semi-permeable boundaries, and smells and visual patterns serve as signals; governments have departmental hierarchies with memoranda acting as signals; and so it is with other cas. Despite a wealth of data and descriptions concerning different cas, there remain many unanswered questions about \"steering\" these systems. In Signals and Boundaries , John Holland argues that understanding the origin of the intricate signal/border hierarchies of these systems is the key to answering such questions. He develops an overarching framework for comparing and steering cas through the mechanisms that generate their signal/boundary hierarchies. Holland lays out a path for developing the framework that emphasizes agents, niches, theory, and mathematical models. He discusses, among other topics, theory construction; signal-processing agents; networks as representations of signal/boundary interaction; adaptation; recombination and reproduction; the use of tagged urn models (adapted from elementary probability theory) to represent boundary hierarchies; finitely generated systems as a way to tie the models examined into a single framework; the framework itself, illustrated by a simple finitely generated version of the development of a multi-celled organism; and Markov processes.
eBook
Adaptive control of parabolic PDEs
This book introduces a comprehensive methodology for adaptive control design of parabolic partial differential equations with unknown functional parameters, including reaction-convection-diffusion systems ubiquitous in chemical, thermal, biomedical, aerospace, and energy systems. Andrey Smyshlyaev and Miroslav Krstic develop explicit feedback laws that do not require real-time solution of Riccati or other algebraic operator-valued equations. The book emphasizes stabilization by boundary control and using boundary sensing for unstable PDE systems with an infinite relative degree. The book also presents a rich collection of methods for system identification of PDEs, methods that employ Lyapunov, passivity, observer-based, swapping-based, gradient, and least-squares tools and parameterizations, among others.
Including a wealth of stimulating ideas and providing the mathematical and control-systems background needed to follow the designs and proofs, the book will be of great use to students and researchers in mathematics, engineering, and physics. It also makes a valuable supplemental text for graduate courses on distributed parameter systems and adaptive control.
eBook
Perspectives on Adaptation in Natural and Artificial Systems
This book is a collection of essays exploring adaptive systems from many perspectives, ranging from computational applications to models of adaptation in living and social systems.The essays on computation discuss history, theory, applications, and possible threats of adaptive and evolving computations systems.
eBook
Adaptives Informationskonzept für beanspruchende urbane Fahrsituationen
Bedeutende Unfallschwerpunkte im innerstädtischen Verkehr liegen vor allem in Kreuzungs- und Einmündungsgebieten und damit in besonders beanspruchenden Fahrsituationen. Die Arbeit beschreibt die Konzeptionierung und Evaluierung einer Informationsstrategie, bei welcher der Workload, verursacht durch die tertiäre Fahraufgabe, in einer beanspruchenden urbanen Fahrsituation minimiert werden kann. Die geringe Komplexität und die damit verbundene verminderte Fehleranfälligkeit zeichnen das situationsspezifische und fahreroptimierte Informationskonzept aus.
eBook