Adaptive control for partially known systems : theory and applications

摘要

1. Introduction. Adaptive control schemes. Adaptive control in partially known plants - Short survey. A priori plant knowledge - A classification. The expected benefits. The hybrid approach - An overview. PART I: THEORY. 2. Hybrid Estimation. Plant description and identifiability properties. The estimation scheme. Estimator properties. Selection of the design parameters. Conclusions and final remarks. 3. Hybrid Estimation in Presence of Bounded Disturbances. Introduction and background. A new estimation algorithm. User guidelines and some examples. Final remarks. 4. Hybrid Estimation for Systems with Variable Time-Delay. Plant model. Parameter estimation. Conclusions. 5. Hybrid Adaptive Control for Partially Known Systems. Fixed control strategy. Estimation scheme and adaptive control law. Modified persistently excited (M-PE) signal algebra. Closed-loop stability. Concluding remarks. 6. Conclusions and Further Research. Resume. The contributions. Further research. PART II: APPLICATIONS. 7. Adaptive Friction Compensation with Application to Robotics. Mathematical models. Friction beating - some strategies. Linear control design. Adaptive friction compensation. Experiments. Conclusions and further research. 8. Adaptive Control in Flexible Arms. Arm model. Payload mass and friction estimation. Control policies. Simulation results. Conclusions and recommendations for future research. 9. Adaptive Robust Control of Robots with Flexible Joints. Robot model. Control design. Robust considerations and stability issues. Parameter estimation. References. Appendices. Subject Index.