Parameter estimation and adaptive control for nonlinear servo systems /

Parameter Estimation and Adaptive Control for Nonlinear Servo Systems presents the latest advances in observer-based control design, focusing on adaptive control for nonlinear systems such as adaptive neural network control, adaptive parameter estimation, and system identification.This book offers a...

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Bibliographic Details
Main Author:	Wang, Shubo
Corporate Author:	ScienceDirect (Online service)
Other Authors:	Na, Jing, Ren, Xuemei
Format:	eBook
Language:	English
Published:	[S.l.] : Academic Press, 2024.
Subjects:	Parameter estimation. Adaptive control systems. Servomechanisms > Control. Nonlinear systems. Estimation d'un paramètre. Systèmes adaptatifs. Systèmes non linéaires. Electronic books.
Online Access:	Connect to the full text of this electronic book

Table of Contents:

Front Cover
Parameter Estimation and Adaptive Control for Nonlinear Servo Systems
Copyright
Contents
Acknowledgment
Introduction
1 Introduction
2 Prologue
3 Objective of the book
4 Book outline
I Modeling and control for servo systems with friction compensation
1 Neural network-based adaptive funnel sliding mode control for servo mechanisms with friction compensation
1.1 Introduction
1.2 Problem formulation
1.2.1 System model
1.2.2 Modified LuGre friction model
1.2.3 Neural networks (NNs) approximation
1.3 Controller design
1.3.1 Funnel control
1.3.2 Adaptive controller design
1.4 Stability analysis
1.5 Experimental results
1.5.1 Experimental setup
1.5.2 Implementation of proposed controller
1.6 Conclusion
References
2 Robust adaptive tracking control for a servo mechanism with continuous friction compensation
2.1 Introduction
2.2 Problem formulation
2.2.1 Servo mechanism model
2.2.2 Friction model
2.3 Controller design
2.3.1 Robust controller design
2.3.2 Convergence analysis
2.4 Experimental results
2.4.1 Experiment setup
2.4.2 Implementation of proposed controller
2.4.3 Experiments results
2.5 Conclusion
References
II Modeling and control for servo systems with a dead-zone
3 Neural-network-based adaptive funnel control for servo mechanisms with unknown dead-zone
3.1 Introduction
3.2 Problem statement
3.2.1 System description
3.2.2 Funnel control
3.2.3 NN approximation
3.3 Control design and stability analysis
3.3.1 Finite-time command filter
3.3.2 AFC design
3.3.3 Stability analysis
3.3.4 Controller implementation
3.4 Experiment results
3.4.1 Experiment equipment
3.4.2 Servo system model
3.4.3 Controller design
3.5 Conclusion
References.
III Parameter estimation for servo systems with unknown parameters
4 Finite time parameter estimation-based adaptive predefined performance control for servo mechanisms
4.1 Introduction
4.2 Problem formulation
4.3 Adaptive funnel controller design
4.3.1 Funnel control
4.3.2 Adaptive funnel controller design
4.4 Online parameter estimation
4.5 Stability analysis
4.6 Simulation results
4.7 Experiment results
4.7.1 Experiment setup
4.7.2 Controller design
4.8 Conclusion
References
5 Adaptive optimal parameter estimation and control of servo mechanisms: theory and experiments
5.1 Introduction
5.2 Dynamic model and problem formulation
5.3 Adaptive optimal parameter estimation
5.3.1 Filter design
5.3.2 Adaptive optimal parameter estimation
5.4 Adaptive sliding mode controller design
5.5 Stability analysis
5.6 Simulation results
5.7 Experiments
5.7.1 Experiment setup
5.7.2 Controller design
5.7.3 Experiment results
5.8 Conclusion
References
IV Disturbance rejection and control for servo systems
6 USDE-based sliding mode control for servo mechanisms with unknown system dynamics
6.1 Introduction
6.2 Problem formulation
6.3 Unknown system dynamics estimator (USDE) design
6.4 Controller design
6.4.1 New structural RL
6.4.2 Controller design
6.4.3 Stability analysis
6.5 Simulation
6.6 Experimental results
6.6.1 Experimental setup
6.6.2 Controller implementation
6.6.3 Experimental results
6.7 Conclusion
References
7 Unknown input observer-based robust adaptive funnel motion control for nonlinear servo mechanisms
7.1 Introduction
7.2 Problem formulation
7.3 Controller design
7.3.1 Funnel control
7.3.2 Funnel nonsingular terminal sliding mode controller (FNTSMC) design
7.4 Unknown input observer design.
7.5 Stability analysis
7.6 Experimental studies
7.6.1 Experimental setup
7.6.2 Implementation of proposed controller
7.6.3 Tracking performance
7.6.4 Observer performance
7.6.5 Performance comparison with ESO and SMO
7.7 Conclusion
References
8 Extended-state-observer based funnel control for nonlinear servo mechanisms with prescribed tracking performance
8.1 Introduction
8.2 Dynamic model and problem formulation
8.3 Extended state observer design
8.4 Funnel control and funnel variable
8.5 Controller design and stability analysis
8.5.1 Controller design
8.5.2 Stability analysis
8.6 Simulation results
8.7 Experimental validation
8.7.1 Experimental setup
8.7.2 Controller design
8.8 Conclusion
References
V Prescribed performance control for servo systems
9 Adaptive predefined performance sliding mode control of motor driving systems with disturbances
9.1 Introduction
9.2 Problem formulation
9.2.1 Dual-inertia system model
9.2.2 Tracking error transformation
9.3 Control design and analysis
9.3.1 Adaptive integral terminal sliding mode control
9.3.2 Convergence analysis
9.4 Experiments
9.4.1 Design of controllers
9.4.2 Experimental results
9.5 Conclusion
References
10 Approximation-free control for nonlinear helicopters with unknown dynamics
10.1 Introduction
10.2 Preliminaries
10.3 Problem formulation
10.3.1 System dynamic model
10.3.2 Prescribed performance control
10.4 Approximation-free control design
10.4.1 Control design
10.4.2 Stability analysis
10.5 Simulations
10.6 Conclusion
References
VI Adaptive asymptotic tracking control for servo systems
11 RISE-based asymptotic prescribed performance tracking control of nonlinear servo mechanisms
11.1 Introduction.
11.2 Problem formulation and preliminaries
11.2.1 Dynamic model of servo mechanisms
11.2.2 Function approximation using ESN
11.2.3 Prescribed performance function
11.3 Controller design
11.3.1 Derivation of the filtered tracking error
11.3.2 Controller design
11.4 Stability analysis
11.5 Experimental results
11.5.1 Experimental setup
11.5.2 Controller design
11.5.3 Experimental results
11.6 Conclusion
References
12 Funnel tracking control for nonlinear servo drive systems with unknown disturbances
12.1 Introduction
12.2 System model
12.3 Control development
12.3.1 Funnel control
12.3.2 Controller design
12.4 Convergence analysis
12.5 Practical implementation
12.6 Experiment verification
12.6.1 Experimental setup
12.6.2 Controller design
12.6.3 Practical results
12.7 Conclusion
References
13 Asymptotic tracking control for nonaffine systems with disturbances
13.1 Introduction
13.2 Problem formulation
13.2.1 System model
13.2.2 Coordinate transform
13.2.3 Error transformation
13.3 Control design
13.3.1 Adaptive neural controller design
13.3.2 Convergence analysis
13.4 Experiment
13.5 Conclusion
References
Index
Back Cover.