自适应控制（英文原版）.pdf

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Contents

List of contributors

Preface

1. Adaptive internal model control

1.1 Introduction

1.2 Internal model control (IMC) schemes: known parameters

1.3 Adaptive internal model control schemes

1.4 Stability and robustness analysis

1.5 Simulation examples

1.6 Concluding remarks

2. An algorithm for robust adaptive control with less prior knowlege

2.1 Introduction

2.2 Problem formulation

2.3 Ordinary direct adaptive control with dead zone

2.4 New robust direct adaptive control

2.5 Robust adaptive control with least prior knowledge

2.6 Simulation example

2.7 Conclusions

3. Adaptive variable structure control

3.1 Introduction

3.2 Problem formulation

3.3 The case of relative degree one

3.4 The case of arbitrary relative degree

3.5 Computer simulations

3.6 Conclusion

4. Indirect adaptive periodic control

4.1 Introduction

4.2 Problem formulation

4.3 Adaptive control scheme

4.4 Adaptive control law

4.5 Simulations

4.6 Conclusions

5. Adaptive stabilization of uncertain discrete-time systems via switching control: the method of localization

5.1 Introduction

5.2 Problem statement

5.3 Direct localization principle

5.4 Indirect localization principle

5.5 Simulation examples

5.6 Conclusions

Appendix 5A

Appendix 5B

6. Adaptive nonlinear control: passivation and small gain techniques

6.1 Introduction

6.2 Mathematical preliminaries

6.3 Adaptive passivation

6.4 Small gain-based adaptive control

6.5 Conclusions

7. Active identification for control of discrete-time uncertain nonlinear systems

7.1 Introduction

7.2 Problem formulation

7.3 Active identification

7.4 Finite duration

7.5 Concluding remarks

8. Optimal adaptive tracking for nonlinear systems

8.1 Introduction

8.2 Problem statement: adaptive tracking

8.3 Adaptive tracking and atclf's

8.4 Adaptive backstepping

8.5 Inverse optimal adaptive tracking

8.6 Inverse optimality via backstepping

8.7 Design for strict-feedback systems

8.8 Transient performance

8.9 Conclusions

Appendix: A technical lemma

9. Stable adaptive systems in the presence of nonlinear parametrization

9.1 Introduction

9.2 Statement of the problem

9.3 Preliminaries

9.4 Stable adaptive NP-systems

9.5 Applications

9.6 Conclusions

Appendix: Proof of lemmas

10. Adaptive inverse for actuator compensation

10.1 Introduction

10.2 Plants with actuator nonlinearities

10.3 Parametrized inverses

10.4 State feedback designs

10.5 Output feedback inverse control

10.6 Output feedback designs

10.7 Designs for multivariable systems

10.8 Designs for nonlinear dynamics

10.9 Concluding remarks

11. Stable multi-input multi-output adaptive fuzzy/neural control

11.1 Introduction

11.2 Direct adaptive control

11.3 Indirect adaptive control

11.4 Applications

11.5 Conclusions

12. Adaptive robust control scheme with an application to PM synchronous motors

12.1 Introduction

12.2 Problem formation

12.3 Adaptive robust control with modification

12.4 Application to PM synchronous motors

12.5 Conclusion

Appendix A

Appendix B

Appendix C

Appendix D

Appendix E

Index

Adaptive Control Systems

Adaptive Control Systems GANG FENG and ROGELIO LOZANO OXFORD AUCKLAND BOSTON JOHANNESBURG MELBOURNE NEW DELHI

Newnes An imprint of Butterworth-Heinemann Linacre House, Jordan Hill, Oxford OX2 8DP 225 Wildwood Avenue, Woburn, MA 01801±2041 A division of Reed Educational and Professional Publishing Ltd A member of the Reed Elsevier plc group First published 1999 # Reed Educational and Professional Publishing Ltd 1999 All rights reserved. No part of this publication may be reproduced in any material form (including photocopying or storing in any medium by electronic means and whether or not transiently or incidentally to some other use of this publication) without the written permission of the copyright holder except in accordance with the provisions of the Copyright, Designs and Patents Act 1988 or under the terms of a licence issued by the Copyright Licensing Agency Ltd, 90 Tottenham Court Rd, London, England W1P 9HE. Applications for the copyright holder's written permission to reproduce any part of this publication should be addressed to the publishers. British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library. ISBN 07506 3996 2 Library of Congress Cataloguing in Publication Data A catalogue record for this book is available from the Library of Congress. Typeset by David Gregson Associates, Beccles, Suolk Printed in Great Britain by Biddles Ltd, Guildford, Surrey

Contents List of contributors Preface 1 Adaptive internal model control 1.1 Introduction 1.2 Internal model control (IMC) schemes: known parameters 1.3 Adaptive internal model control schemes 1.4 Stability and robustness analysis 1.5 Simulation examples 1.6 Concluding remarks References 2 An algorithm for robust adaptive control with less prior knowledge 2.1 Introduction 2.2 Problem formulation 2.3 Ordinary direct adaptive control with dead zone 2.4 New robust direct adaptive control 2.5 Robust adaptive control with least prior knowledge 2.6 Simulation example 2.7 Conclusions References 3 Adaptive variable structure control 3.1 Introduction 3.2 Problem formulation 3.3 The case of relative degree one 3.4 The case of arbitrary relative degree ix xv 1 1 2 7 12 18 19 21 23 23 25 27 28 32 36 38 38 41 41 43 46 49

vi Contents 3.5 Computer simulations 3.6 Conclusion Appendix References 4 Indirect adaptive periodic control 4.1 Introduction 4.2 Problem formulation 4.3 Adaptive control scheme 4.4 Adaptive control law 4.5 Simulations 4.6 Conclusions References 5 Adaptive stabilization of uncertain discrete-time systems via switching control: the method of localization 5.1 Introduction 5.2 Problem statement 5.3 Direct localization principle 5.4 Indirect localization principle 5.5 Simulation examples 5.6 Conclusions Appendix A Appendix B References 6 Adaptive nonlinear control: passivation and small gain techniques 6.1 Introduction 6.2 Mathematical preliminaries 6.3 Adaptive passivation 6.4 Small gain-based adaptive control 6.5 Conclusions References 7 Active identi®cation for control of discrete-time uncertain nonlinear systems 7.1 Introduction 7.2 Problem formulation 7.3 Active identi®cation 7.4 Finite duration 7.5 Concluding remarks Appendix References 56 59 60 61 63 63 65 68 69 74 78 78 80 80 86 89 101 108 112 112 115 116 119 119 121 127 138 155 156 159 160 161 166 178 178 181 182

Contents vii 8 Optimal adaptive tracking for nonlinear systems 8.1 Introduction 8.2 Problem statement: adaptive tracking 8.3 Adaptive tracking and atclf 's 8.4 Adaptive backstepping 8.5 Inverse optimal adaptive tracking 8.6 Inverse optimality via backstepping 8.7 Design for strict-feedback systems 8.8 Transient performance 8.9 Conclusions Appendix A technical lemma References 9 Stable adaptive systems in the presence of nonlinear parametrization 9.1 Introduction 9.2 Statement of the problem 9.3 Preliminaries 9.4 Stable adaptive NP-systems 9.5 Applications 9.6 Conclusions Appendix Proofs of lemmas References 10 Adaptive inverse for actuator compensation 10.1 Introduction 10.2 Plants with actuator nonlinearities 10.3 Parametrized inverses 10.4 State feedback designs 10.5 Output feedback inverse control 10.6 Output feedback designs 10.7 Designs for multivariable systems 10.8 Designs for nonlinear dynamics 10.9 Concluding remarks References 11 Stable multi-input multi-output adaptive fuzzy/neural control 11.1 Introduction 11.2 Direct adaptive control 11.3 Indirect adaptive control 11.4 Applications 11.5 Conclusions References 184 184 186 188 193 197 202 205 209 210 210 213 215 215 218 220 228 236 245 246 258 260 260 262 263 265 269 271 275 281 284 285 287 287 289 296 299 306 306

viii Contents 12 Adaptive robust control scheme with an application to PM synchronous motors 12.1 Introduction 12.2 Problem formulation 12.3 Adaptive robust control with -modi®cation 12.4 Application to PM synchronous motors 12.5 Conclusion Appendix A The derivative of V1 Appendix B The derivative of V2 Appendix C The derivative of V3 Appendix D Appendix E De®nitions of 2, 3, '2, and '3 Index 308 309 310 312 317 320 321 322 324 325 326 000

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