Structured adaptive control : theory and applications to trajectory tracking in aerospace systems /
This dissertation formulates and demonstrates the efficacy of a theory for Structured Adaptive Control for model reference tracking in uncertain aerospace and robotic systems. For this class of nonlinear dynamical systems, a sub-set of the governing differential equations are perfectly known, for ex...
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| Format: | Thesis Book |
| Language: | English |
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[Place of publication not identified] :
[publisher not identified] ;
1998.
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| Online Access: | http://proxy.library.tamu.edu/login?url=http://proquest.umi.com/pqdweb?did=733050061&sid=1&Fmt=2&clientId=2945&RQT=309&VName=PQD |
| Summary: | This dissertation formulates and demonstrates the efficacy of a theory for Structured Adaptive Control for model reference tracking in uncertain aerospace and robotic systems. For this class of nonlinear dynamical systems, a sub-set of the governing differential equations are perfectly known, for example, the description of exact kinematic relations. It is recognized that these equations are free of disturbance forces/torques as well. Hence all the learning and adaptation is restricted to a sub-set of the state space corresponding to the acceleration level differential equations governing the system dynamics. While taking into account this special structure, robust adaptive feedback control laws are derived that ensure stability and bounded tracking errors even in the presence of unmodeled dynamics, unknown disturbances and actuator saturation limits. We also address the situation wherein redundant actuators are available. The main theoretical results are demonstrated through numerical simulation of several example problems. |
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| Item Description: | Vita. |
| Physical Description: | ix, 80 leaves : illustrations ; 28 cm. Issued also on microfiche from University Microfilm Inc. |
| Bibliography: | Includes bibliographical references: pages 75-79. |