Safe Adaptive Control
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Author | : Margareta Stefanovic |
Publisher | : Springer Science & Business Media |
Total Pages | : 153 |
Release | : 2011-02-10 |
Genre | : Technology & Engineering |
ISBN | : 1849964521 |
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Safe Adaptive Control gives a formal and complete algorithm for assuring the stability of a switched control system when at least one of the available candidate controllers is stabilizing. The possibility of having an unstable switched system even in the presence of a stabilizing candidate controller is demonstrated by referring to several well-known adaptive control approaches, where the system goes unstable when a large mismatch between the unknown plant and the available models exists ("plant-model mismatch instability"). Sufficient conditions for this possibility to be avoided are formulated, and a "recipe" to be followed by the control system designer to guarantee stability and desired performance is provided. The problem is placed in a standard optimization setting. Unlike the finite controller sets considered elsewhere, the candidate controller set is allowed to be continuously parametrized so that it can deal with plants with a very large range of uncertainties.
Author | : Margareta Stefanovic |
Publisher | : Springer |
Total Pages | : 153 |
Release | : 2011-02-04 |
Genre | : Technology & Engineering |
ISBN | : 184996453X |
Download Safe Adaptive Control Book in PDF, Epub and Kindle
Safe Adaptive Control gives a formal and complete algorithm for assuring the stability of a switched control system when at least one of the available candidate controllers is stabilizing. The possibility of having an unstable switched system even in the presence of a stabilizing candidate controller is demonstrated by referring to several well-known adaptive control approaches, where the system goes unstable when a large mismatch between the unknown plant and the available models exists ("plant-model mismatch instability"). Sufficient conditions for this possibility to be avoided are formulated, and a "recipe" to be followed by the control system designer to guarantee stability and desired performance is provided. The problem is placed in a standard optimization setting. Unlike the finite controller sets considered elsewhere, the candidate controller set is allowed to be continuously parametrized so that it can deal with plants with a very large range of uncertainties.
Author | : Margareta Stefanovic |
Publisher | : |
Total Pages | : 162 |
Release | : 2011-03-30 |
Genre | : |
ISBN | : 9781849964548 |
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Author | : Naira Hovakimyan |
Publisher | : SIAM |
Total Pages | : 333 |
Release | : 2010-09-30 |
Genre | : Science |
ISBN | : 0898717043 |
Download L1 Adaptive Control Theory Book in PDF, Epub and Kindle
Contains results not yet published in technical journals and conference proceedings.
Author | : Margareta Stefanovic |
Publisher | : |
Total Pages | : 168 |
Release | : 2005 |
Genre | : |
ISBN | : |
Download Safe Switching Adaptive Control Book in PDF, Epub and Kindle
Author | : Petros Ioannou |
Publisher | : Courier Corporation |
Total Pages | : 850 |
Release | : 2013-09-26 |
Genre | : Technology & Engineering |
ISBN | : 0486320723 |
Download Robust Adaptive Control Book in PDF, Epub and Kindle
Presented in a tutorial style, this comprehensive treatment unifies, simplifies, and explains most of the techniques for designing and analyzing adaptive control systems. Numerous examples clarify procedures and methods. 1995 edition.
Author | : Max Cohen |
Publisher | : Springer Nature |
Total Pages | : 209 |
Release | : 2023-06-16 |
Genre | : Technology & Engineering |
ISBN | : 303129310X |
Download Adaptive and Learning-Based Control of Safety-Critical Systems Book in PDF, Epub and Kindle
This book stems from the growing use of learning-based techniques, such as reinforcement learning and adaptive control, in the control of autonomous and safety-critical systems. Safety is critical to many applications, such as autonomous driving, air traffic control, and robotics. As these learning-enabled technologies become more prevalent in the control of autonomous systems, it becomes increasingly important to ensure that such systems are safe. To address these challenges, the authors provide a self-contained treatment of learning-based control techniques with rigorous guarantees of stability and safety. This book contains recent results on provably correct control techniques from specifications that go beyond safety and stability, such as temporal logic formulas. The authors bring together control theory, optimization, machine learning, and formal methods and present worked-out examples and extensive simulation examples to complement the mathematical style of presentation. Prerequisites are minimal, and the underlying ideas are accessible to readers with only a brief background in control-theoretic ideas, such as Lyapunov stability theory.
Author | : Shankar Sastry |
Publisher | : Courier Corporation |
Total Pages | : 402 |
Release | : 2011-01-01 |
Genre | : Technology & Engineering |
ISBN | : 0486482022 |
Download Adaptive Control Book in PDF, Epub and Kindle
This volume surveys the major results and techniques of analysis in the field of adaptive control. Focusing on linear, continuous time, single-input, single-output systems, the authors offer a clear, conceptual presentation of adaptive methods, enabling a critical evaluation of these techniques and suggesting avenues of further development. 1989 edition.
Author | : Karl J. Åström |
Publisher | : Courier Corporation |
Total Pages | : 596 |
Release | : 2013-04-26 |
Genre | : Technology & Engineering |
ISBN | : 0486319148 |
Download Adaptive Control Book in PDF, Epub and Kindle
Suitable for advanced undergraduates and graduate students, this overview introduces theoretical and practical aspects of adaptive control, with emphasis on deterministic and stochastic viewpoints. 1995 edition.
Author | : Mac Schwager |
Publisher | : |
Total Pages | : 101 |
Release | : 2005 |
Genre | : |
ISBN | : |
Download Towards Verifiable Adaptive Control for Safety Critical Applications Book in PDF, Epub and Kindle
To be implementable in safety critical applications, adaptive controllers must be shown to behave strictly according to predetermined specifications. This thesis presents two tools for verifying specifications relevant to practical direct-adaptive control systems. The first tool is derived from an asymptotic analysis of the error dynamics of a direct adaptive controller and uncertain linear plant. The analysis yields a so called Reduced Linear Asymptotic System, which can be used for designing adaptive systems to meet transient specifications. The tool is demonstrated in two design examples from flight mechanics, and verified in numerical simulation. The second tool developed is an algorithm for direct-adaptive control of plants with magnitude saturation constraints on multiple inputs. The algorithm is a non-trivial extension of an existing technique for single input systems with saturation. Boundeness of all signals is proved for initial conditions in a compact region. In addition, the notion of a class of multi-dimensional saturation functions is introduced. The saturation compensation technique is demonstrated in numerical simulation. Finally, these tools are applied to design a direct-adaptive controller for a realistic multi-input aircraft model to accomplish control reconfiguration in the case of unforeseen failure, damage, or disturbances. A novel control design for incorporating control allocation and reconfiguration is introduced. The adaptive system is shown in numerical simulation to have favorable transient qualities and to give a stable response with input saturation constraints.