Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics

Jing Na, Qiang Chen, Xuemei Ren

• Publisher: Academic Press
• Year: 2018
• Print ISBN: 9780128136836
• eBook ISBN: 9780128136843
• Topic: Technology & Engineering
• Subtopic: Mechanical Engineering
• Index: Technology & Engineering

Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics reports some of the latest research on modeling, identification and adaptive control for systems with nonsmooth dynamics (e.g., backlash, dead zone, friction, saturation, etc). The authors present recent research results for the modelling and control designs of uncertain systems with nonsmooth dynamics, such as friction, dead-zone, saturation and hysteresis, etc., with particular applications in servo systems. The book is organized into 19 chapters, distributed in five parts concerning the four types of nonsmooth characteristics, namely friction, dead-zone, saturation and hysteresis, respectively. Practical experiments are also included to validate and exemplify the proposed approaches.This valuable resource can help both researchers and practitioners to learn and understand nonlinear adaptive control designs. Academics, engineers and graduate students in the fields of electrical engineering, control systems, mechanical engineering, applied mathematics and computer science can benefit from the book. It can be also used as a reference book on adaptive control for servo systems for students with some background in control engineering.- Explains the latest research outputs on modeling, identification and adaptive control for systems with nonsmooth dynamics- Provides practical application and experimental results for robotic systems, and servo motors

Table of contents

• Cover image
• Title page
• Table of Contents
• Copyright
• Dedication
• About the Authors
• Preface
• Acknowledgment
• Part 1: Introduction
• Introduction
• Part 2: Modeling and Control of Uncertain Systems With Friction
• Chapter 1: Friction Dynamics and Modeling
• Chapter 2: Adaptive Sliding Mode Control of Non-linear Servo Systems With LuGre Friction Model
• Chapter 3: Adaptive Dynamic Surface Control of Two-Inertia Systems With LuGre Friction Model
• Chapter 4: Adaptive Prescribed Performance Control of Servo Systems With Continuously Differentiable Friction Model
• Chapter 5: RISE Based Asymptotic Prescribed Performance Control of Servo Systems With Continuously Differentiable Friction Model
• Chapter 6: Adaptive Control for Manipulation Systems With Discontinuous Piecewise Parametric Friction Model
• Part 3: Modeling and Control of Uncertain Systems With Input Dead-Zone
• Chapter 7: Dead-Zone Dynamics and Modeling
• Chapter 8: Adaptive Finite-Time Neural Control of Servo Systems With Non-linear Dead-Zone
• Chapter 9: Adaptive Neural Dynamic Surface Control of Strict-Feedback Systems With Non-linear Dead-Zone
• Chapter 10: Adaptive Prescribed Performance Control of Strict-Feedback Systems With Non-linear Dead-Zone
• Chapter 11: Adaptive Dynamic Surface Output Feedback Control of Pure-Feedback Systems With Non-linear Dead-Zone
• Part 4: Modeling and Control of Uncertain Systems With Saturation
• Chapter 12: Saturation Dynamics and Modeling
• Chapter 13: ESO Based Adaptive Sliding Mode Control of Servo Systems With Input Saturation
• Chapter 14: Non-singular Terminal Sliding Mode Funnel Control of Servo Systems With Input Saturation
• Chapter 15: Adaptive Neural Dynamic Surface Control for Pure-Feedback Systems With Input Saturation
• Part 5: Modeling and Control of Uncertain Systems With Hysteresis
• Chapter 16: Hysteresis Dynamics and Modeling
• Chapter 17: Identification and Inverse Model Based Control of Uncertain Systems With Backlash
• Chapter 18: Identification and Control of Hammerstein Systems With Hysteresis Non-linearity
• Chapter 19: Adaptive Estimation and Control of Magneto-Rheological Damper for Semi-Active Suspensions
• Index