Adaptive Control for Partially Known Systems: Theory and Applications

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