inaccuracies lead to the deviation of operational space trajectory provided by the kinematic
One method to deal with this issue can be found in an adaptive control. Xu and Gu
proposed an adaptive control scheme for space robots in both joint space and operational
space [Xu et al., 1992, Gu & Xu, 1993]. However, the adaptive control proposed in [Xu et al.,
1992] requires perfect attitude control and the adaptive control in [Gu & Xu, 1993] is
developed based on an under-actuated system on the assumption that the acceleration of the
base-satellite is measurable.
A systematic and unified presentation of the fundamentals of adaptive control theory in both continuous time and discrete time
Today, adaptive control theory has grown to be a rigorous and mature discipline. As the advantages of adaptive systems for developing advanced applications grow apparent, adaptive control is becoming more popular in many fields of engineering and science. Using a simple, balanced, and harmonious style, this book provides a convenient introduction to the subject and improves one's understanding of adaptive control theory....
Knowing that the plant parameters can vary within their lower and upper bounds, this
parametric uncertainty is formulated as an additive perturbation in the transfer function
matrix. It is important to note that the controller be designed with respect to worst case
uncertainty for each λij. This can be achieved by performing an optimization procedure
given by (61) for 200 frequencies. Here an element by element uncertainty bound model is
used for the characterization of upper bound of the uncertainty matrix. Then wij , which
satisfies (62) for each λij is given in matrix form as,...
Bài báo đề nghị một phương pháp thiết kế bộ điều khiển thích ứng cho một hệ thống xác định một phần. Hệ thống bao gồm hai phần: một phần xác định ( biết tất cả các thông số) và một phần chứa các thông số chưa biết của hệ t hống. Bộ điều khiển được thiết kế theo tiêu chuẩn ổn định Lyapunov kế quả lý thuyết được áp dụng vào việc điều khiển robot hàn di động hai bánh xe.
The areas of adaptive filtering and change (fault) detection are quite active
fields. both in research and applications . Some central keywords of the book
are listed in Table 1.1, and the figures. illustrated in Figure 1.1, give an idea
of the relative activity in the different areas . For comparison. the two related
and well established areas of adaptive control and system identification are
included in the table
The grandest accomplishments of engineering took place in the twentieth century. The widespread development and distribution of electricity and clean water, automobiles and airplanes, radio and television, spacecraft and lasers, antibiotics and medical imaging, computers and the Internet are just some of the highlights from a century in which engineering revolutionized and improved virtually every aspect of human life. In this book, the authors provide a glimpse of the new trends of technologies pertaining to control, management, computational intelligence and network systems....