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Tao G. — Adaptive control design and analysis
Tao G. — Adaptive control design and analysis

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Название: Adaptive control design and analysis

Автор: Tao G.

Аннотация:

Perceiving a need for a systematic and unified understanding of adaptive control theory, electrical engineer Tao presents and analyzes common design approaches with the aim of covering the fundamentals and state of the art of the field. Chapters cover systems theory, adaptive parameter estimation, adaptive state feedback control, continuous-time model reference adaptive control, discrete-time model reference adaptive control, indirect adaptive control, multivariable adaptive control, and adaptive control of systems with nonlinearities.


Язык: en

Рубрика: Технология/

Статус предметного указателя: Готов указатель с номерами страниц

ed2k: ed2k stats

Год издания: 2003

Количество страниц: 640

Добавлена в каталог: 18.05.2005

Операции: Положить на полку | Скопировать ссылку для форума | Скопировать ID
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Предметный указатель
$Q_m(s)$      314
$Q_m(z)$      337
$\epsilon$-modifieation      134
$\mathcal{K}$ functions      53
$\sigma$-modification, continuous-time, fixed      131
$\sigma$-modification, continuous-time, switching      132 230
$\sigma$-modification, discrete-time, fixed      136
$\sigma$-modification, discrete-time, switching      137
$\sigma$-modification, multivariable      399
Actuator nonlinearities      506
Adaptive control      10 16
Adaptive control of robot manipulators      477
Adaptive control systems      13 14 32
Adaptive control, backstepping      27 365 457 546
Adaptive control, continuous-time      12 14 17 149 195 295 349 371 381 401 416 429 457 477 513 535
Adaptive control, discrete-time      15 23 271 329 381 513 524
Adaptive control, input error method      492
Adaptive control, model reference      17 21 23 25 149 174 195 271 295 329 351 371 381 513 521 530
Adaptive control, model reference, direct      149 195 271 371
Adaptive control, model reference, direct-indirect      353
Adaptive control, model reference, indirect      21 25 295 329 352
Adaptive control, multivariable      42 371 381 416 429 439 457 477 492
Adaptive control, output feedback      195 271 295 329 352 381 518
Adaptive control, pole placement, direct      244 490
Adaptive control, pole placement, indirect      313 337 491
Adaptive control, prediction model method      494
Adaptive control, state feedback      149 351 371
Adaptive inverse control      513 518 524 531 535
Adaptive parameter estimation, continuous-time      99 123 128
Adaptive parameter estimation, discrete-time      114 126 134
Backlash      508
Backlash inverse, continuous-time      511
Backlash inverse, discrete-time      512
Backlash inverse, parametrization of      512
Barbalat lemma      81
Bellman — Gronwall lemma, continuous-time      62
Bellman — Gronwall lemma, discrete-time      91
Certainty equivalence      34
Compensation control      514 518
Controllability index      383
Convergence, parameter error      108 120
Convergence, signal      80 81 263
Convergence, tracking error      21 22 29 151 154 159 202 207 216 279 307 316 335
Dead-zone inverse      510
Dead-zone modification      129 135
Dead-zone nonlinearity      507
Decrescent function      53
Diffeomorphism      537
Diophantine equation      315 339
Dirac $\delta$-function      38
Dissipative network      77
Disturbance rejection, continuous-time      159
Disturbance rejection, discrete-time      181
Estimation error, adaptive control      158 180 204 211 277 397 401
Estimation error, parameter estimation      102 114
Feedback control      1 6
Feedback linearizable systems      536
Feedback linearization      537
Gradient algorithm, adaptive control      158 176 211 278 397 434 446 451
Gradient algorithm, continuous-time      102 145 158 211 397 434 446 451
Gradient algorithm, discrete-time      24 115 176 278 397 446 451
Gradient algorithm, parameter estimation      102 115 145 304 318
Gradient algorithm, robust      124 127 129 135 231 281 397 515 528
Hermite normal form      384
High frequency gain      39 196 239
High frequency gain matrix      42 385
Hoelder inequality, continuous-time      48
Hoelder inequality, discrete-time      87
Hysteresis      507
Hysteresis inverse      508
Indicator functions for backlash      509
Indicator functions for backlash inverse      512
Indicator functions for dead-zone      508
Indicator functions for dead-zone inverse      510
Input-output model      4 6 11 15
Input-output model, $L^p$ theory      74
Input-output model, stability      70 71
Interactor matrix, left      42 384
Interactor matrix, modified      42 382
Interactor matrix, right      423
Internal model principle      329
Jumping parameters      263
Kronecker product      530
Lasalle theorem      58
Least-squares algorithm, continuous-time      104 113 319
Least-squares algorithm, discrete-time      116 123 338
Lefschetz — Kalman — Yakubovich lemma      79 417
Lie derivative      536
Linear model      101 114 158 195 211
Lipschitz condition      36
Lyapunov stability analysis      49
Lyapunov stability analysis, direct method      54
Lyapunov stability analysis, indirect method      61
Lyapunov-type algorithm      204 401
Manipulator model      477
Manipulator model, Euler — Lagrange equation      477
Manipulator model, kinetic energy      477
Manipulator model, potential energy      477
Matching equation      197 273
Matrix, closed-loop system      157 372
Matrix, controllable canonical form      95
Matrix, decomposition, LDS, SDU      44
Matrix, decomposition, LDU      43
Matrix, Jordan blocks      60 89
Matrix, positive definite      59
Minkowski inequality, continuous-time      48
Minkowski inequality, discrete-time      88
Model reference adaptive control, continuous-time      149 195 295 351 371 381
Model reference adaptive control, discrete-time      174 271 329 381
Model reference adaptive control, indirect      295 329
Model reference adaptive control, multivariable      371 381
Model reference adaptive control, robust      226 397
Model reference control      152 157 197 273 294 372 394
Multivariable systems      38 371 381
Negative definite function      53
Nonlinear control      10 27 535
Nonlinearity inverse      509
Nonsmooth nonlinearity      507
Nonsmooth nonlinearity, backlash      508
Nonsmooth nonlinearity, dead-zone      507
Nonsmooth nonlinearity, hysteresis      507
Norm, matrix norm, $I^1$, $l^2$, $l^{\infty}$ induced      47
Norm, matrix norm, Frobenius      47 398
Norm, matrix norm, of a stable matrix      89
Norm, operator norm      93 389 400
Norm, signal norm, $L^1$, $L^2$, $L^p$, $L^{\infty}$      48
Norm, vector norm, $I^1$, $I^2$ (Euclidean), $l^{\infty}$      45
Norm, vector norm, $l^p$      46
Norm, vector norm, equivalence      46
Normalizing signals, dynamic      230 397
Normalizing signals, static      211 278 287 319 338
Nussbaum gain      239
Observability index      42 383
Observer, multiple input      459 552
Observer, parametrization      170 188 552
Observer, single input      170 188
Operators, advance      15
Operators, differentiation      12
Operators, stable and proper      69
Operators, stable and strictly proper      69
Optimal control      8
Output-feedback systems      553
Overparametrization      147 257
Parameter convergence, continuous-time      108 257
Parameter convergence, discrete-time      120
Parameter projection, continuous-time      133 305 322
Parameter projection, discrete-time      138 334
Parametric-strict-feedback systems      27 545
Persistency of excitation, continuous-time      108
Persistency of excitation, discrete-time      120
PID control      8
Pole placement      95
Pole placement control      8 316 340
Poles      40
Polynomial matrix, column reduced (proper)      383
Polynomial matrix, coprime      40
Polynomial matrix, row reduced (proper)      383
Polynomial matrix, unimodular      40
Polynomial, coprime      39
Polynomial, monic      39
Polynomial, stable      39
Positive definite function      53
Positive real function      77
Positive real lemma      79
Positive real matrix      417
Reference model      151 156 178 196 372 384 429
Reparametrization      530
Robust adaptive laws, continuous-time      128 229
Robust adaptive laws, discrete-time      134 281
Robust adaptive laws, multivariable      397
Robust control      9 30
Robustness      33 37 219 280
Schwarz inequality, continuous-time      48
Schwarz inequality, discrete-time      88
Self-tuning regulator      16
Small-gain lemma      64 66
Space, $L^1$, $L^2$,$L^p$, $L^{\infty}$      49
Space, linear      45
Stability      50 55 61
Stability of feedback system      70
Stability of operator      68
Stability, asymptotic      51 55 56
Stability, BIBO      69
Stability, BIBS      538
Stability, exponential      52 57
Stability, Lagrange      52
Stability, Lyapunov      49
Stability, uniform      51 54
State transition matrix      37
Stochastic adaptive control      16
Strictly positive real function      78
Strictly positive real function, construction      79
Strictly positive real function, frequency-domain condition      78
Strictly positive real matrix      417
Sufficient richness      109
Swapping lemma      257 411
System identification      378
System modeling in continuous time      4 11 37 99
System modeling in discrete time      5 15 84 114
Time-varying systems      270
Uncertainty, disturbance      219 222 226 251 280 286
Uncertainty, parameter variation      286
Uncertainty, unmodeled dynamics, additive      226 284
Uncertainty, unmodeled dynamics, feedback      262 426
Uncertainty, unmodeled dynamics, multiplicative      226 253 284
Variable structure system      253 489
Zero dynamics      541
zeros      40
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