T and petre stioca, system identification, prentice hall international uk ltd. Robustness of a derivativefree adaptive control law. Chapter 3, adaptive control, gives three schemes for model reference adaptive control and studies the connections between them as well as their relationships to other known schemes. This paper proposes a lyapunovbased linear backstepping control scheme for a kind of uncertain linear systems whose relative degree is identical with its system dimension. Robustness, convergence, and lyapunov stability of a. Marc bodson eecs department university of california, berkeley technical report no. Downloaded by delft university of technology at 06. Both measured and simulated, it is demonstrated that the nonlinear design balances fast convergence under largegain feedback during the first trials with sufficient robustness against model uncertainty under smallgain. The focus is on linear, continuous time, singleinput single output systems. Get your kindle here, or download a free kindle reading app. The theoretical results are supported by experimental evidence of the claimed robustness properties. Complete stability and convergence results have now been obtained for minimum phase deterministic and stochastic.
Comparison of robustness between adaptive control and pid control has been researched by shibata and. They also have difficulties in the presence of nonlinearity. Stability, convergence and robustness dover books on electrical. Adaptation and learning play an essential role in biological systems, and these characteristics have been widely incorporated in modern control systems. Stability, convergence, and robustness of adaptive systems. By restriction to identification based parameter adaptive schemes we prove asymptotic ljapunov stability of the leastsquares parameter estimator under persistent excitation and examine the stability of the adaptive loop. The objective of this book is to give the major results, techniques of analysis and new directions of research in adaptive systems.
Stability and robustness of adaptive polezero placement. The authors provides a clear, conceptual presentation of adaptive methods, to enable a vital evaluation of these techniques and suggest. Recursive least squares method and extended recursive least squares method in parameter identification. Stability, convergence, and robustness, prenticehall, 1994. Astrom and bjorn wittenmark, adaptive control, 2nd ed. Parameter convergence and stability in continuoustime indirect adaptive control, n nordstrom. The authors show that a robust adaptive controller can be developed which stabilizes all members of a wide class of systems. Sufficient conditions for the convergence of the estimated. This paper gives an overview of some ideas in adaptive control that originate from a paper published by kalman in 1958. Stability, convergence, and robustness by shankar sastry, marc bodson prentice hall the book gives the major results, techniques of analysis and new directions in adaptive systems. Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. The control diagram proposed contains a takagisugenokang fuzzy controller tskfc and a training block allowing the online adaptation of the fc parameters. Presents the deterministic theory of identification and adaptive control, focusing on linear, continuous time, singleinput singleoutput systems.
On the design of adaptive model predictive control for a. Lyapunovbased backstepping control of a class of linear. A scanned version pdf format of the original book may be downloaded for personal use. This course introduces the general principles of adaptive control and learning. Adaptive pid and model reference adaptive control switch. Several books and research monographs already exist on the topics of parameter estimation and adaptive control. Its selfcontained, unified presentation of wellknown results establishes the close connections between seemingly independent developments in the field. Bodsons webpage petros ioannou and jing sun, robust adaptive control, 1996.
This paper examines the robustness to unmodeled dynamics of a recently developed derivativefree adaptive control law. Selecting this option will search all publications across the scitation platform selecting this option will search all publications for the publishersociety in context. Shankar sastry this volume surveys the major results and techniques of analysis in the field of adaptive control. I will draw on the following books that are available for download from the web. Stability, convergence, and robustness free book at ebooks directory. Stability and robustness analysis of a class of adaptive. Convergence and stability, automatica on deepdyve, the largest online rental service for scholarly research with thousands of academic publications available at. We investigate robustness of equilibria when a new agent with arbitrarily small weight is introduced to the system in equilibrium. Stability and robustness of fuzzy adaptive control of nonlinear systems. Modelreference adaptive controlstability, parameter. Stability and robustness of fuzzy adaptive control of. In this paper, we propose a new approach that guarantees the stability and robustness of an adaptive control law of a nonlinear system. Stability, robustness, and interpretations abstract. Shankar sastry and marc bodson prenticehall advanced reference series engineering.
Modelreference adaptive controlstability, parameter convergence, and robustness. We study stability, parameter convergence, and robustness aspects of single inputsingle output modelreference adaptive systems. We begin by establishing a framework for studying parametrizable and unparametrizable uncertainty in the plant to be controlled. Stability, convergence and robustness dover books on electrical engineering. In adaptive inverse control aic, adaptive inverse of the plant is used as a feedforward controller. An adaptive control design approach that involves the insertion of a strictly proper stable filter at the input of standard model reference adaptive control mrac schemes has been proposed in the recent years. The area of adaptive control has grown to be one of the richest in terms of algorithms, design techniques, analytical tools, and modi.
The suggested control law must satisfy the convergence of the. This graduatelevel text focuses on the stability of adaptive systems, and offers a thorough understanding of the global stability properties essential to designing adaptive systems. Jan 24, 2006 despite the publication of numerous papers and several books dealing with the design, analysis and robustness properties of adaptive control, the theory of adaptive control may appear too technical and sometimes confusing to some people due to the so many different approaches, modifications and stability tools employed by various researchers in. The latter provides a comprehensive survey of results on stochastic adaptive control. Convergence, stability, and robustness of multidimensional. This option allows users to search by publication, volume and page selecting this option will search the current publication in context. Focusing on linear, continuous time, singleinput, singleoutput systems, the authors offer a clear, conceptual presentation of adaptive methods, enabling a critical evaluation. Although adaptive control schemes for spacecraft attitude tracking are abundant in controls literature, very few are designed to guarantee consistent performance for. The stability and robustness properties of the adaptive control scheme proposed by sadegh and horowitz 1987 are stud ied.
The key ideas are given using quotes from kalmans paper. The properties include the global exponential stability and l p inputoutput stability of the nonadaptive i. Papers from the bank of englands tercentenary symposium. The robustness, convergence, and lyapunov stability properties of a nonlinear iterative learning control with applications to an industrial wafer scanner are studied. Consequently, the authors adaptive control research began. Focusing on linear, continuous time, singleinput, singleoutput systems, the authors offer a clear, conceptual presentation of adaptive methods, enabling a critical evaluation of these techniques and suggesting avenues of further development. Stability, convergence, and robustness by shankar sastry, marc bodson, the objective of this book is to offer the most important results, techniques of analysis and new directions of research in adaptive systems. There are several surveys on the convergence theory of adapti ve control algorithms e. Stability and convergence analysis of direct adaptive. View or download all content the institution has subscribed to. The journal of the acoustical society of america 88, 588 1990. Comparison of robustness between adaptive control and pid control has been researched by shibata and mitsukawa in.
The advances in stability theory and the progress in control theory in the 1960s. Yet, it was long known as a field not entirely easy. Adaptive control has by now a fairly long history in both academic research and in industrial applications. J wikipedia citation please see wikipedias template documentation for further citation fields that may be required. It presents deterministic theory of identification and adaptive control. The global stability and asymptotic convergence of the closedloop system are guaranteed. We consider filippov solutions of the resulting dynamics and show strong lyapunov stability of all equilibria in the relative interior of the set of equilibria. Direct adaptive inverse control daic alleviates the adhocism in adaptive loop. Stability, convergence and robustness, prenticehall, englewood cliffs, nj, 1989. Other readers will always be interested in your opinion of the books youve read. This volume surveys the major results and techniques of analysis in the field of adaptive control. Stability, convergence, and robustness by shankar sastry and marc bodson.
Whether youve loved the book or not, if you give your honest and detailed thoughts then people will find new books that are right for them. A systematic and unified presentation of the fundamentals of adaptive control theory in both continuous time and discrete time today. Ecse 6400 systems analysis techniques or equivalent. The objective of this book is to give, in a concise and unified fashion, the major results, techniques of analysis and new directions of research in adaptive systems. Applications of adaptive systems require a certain robustness of the interconnected estimatorcontroller structure. Stability and robustness of adaptive polezero placement algorlthm a thesis. Adaptive control stability, convergence, and robustness s. Adaptive control stability, convergence, and robustness. Adaptive attitudetracking control of spacecraft with.
Presents the deterministic theory of identification and adaptive control, focusing on linear, continuous. On the design of adaptive model predictive control for a class of uncertain nonlinear dynamic systems part i. Stability, convergence, and robustness prenticehall advanced reference series shankar sastry this volume surveys the major results and techniques of analysis in the field of adaptive control. Sufficient conditions for adaptive control to ensure stability and convergence to a controller that is robustly stabilizing and performing are developed, provided that such a controller exists in. Complete stability and convergence results have now been. On convergence and robustness of parameter adaptive. Majority of aic schemes estimate controller parameters using the indirect method. Stability, convergence and robustness dover books on electrical engineering sastry, shankar, bodson, marc on.
Optimal adaptive control of linearquadraticgaussian systems. Modelreference adaptive control stability, parameter convergence, and robustness. All three have the same stability and convergence properties. Jan 16, 2011 theory pole placement method minimum variance control predictive control.
Download adaptive control stability convergence and. The class of systems includes those having significant unmodeled dynamics and nonminimum phase characteristics. Stability convergence robustness application of adaptive conrol. Adaptive control of mechanical manipulators john j. Stability, convergence, and robustness by shankar sastry, marc bodson. Despite the publication of numerous papers and several books dealing with the design, analysis and robustness properties of adaptive control, the theory of adaptive control may appear too technical and sometimes confusing to some people due to the so many different approaches, modifications and stability tools employed by various researchers in.