Description
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
I. Introduction 1II. Modeling and control of uncertain systems with friction 21. Friction dynamics and modeling2. Adaptive control for servo systems with LuGrefriction model 3. Robust tracking control for two-inertia systems with friction compensation4. Adaptive prescribed performance control with continuous friction model5. Composite adaptive control with discontinuous piecewise parametric friction modelIII. Modeling and control of uncertain systems with input dead zone 6. Dead zone dynamics and modeling 7. Adaptive Robust Finite-Time Neural Control of Uncertain PMSM Servo System with Nonlinear Dead Zone 8. Adaptive dynamic surface control for strict-feedback systems with nonlinear dead zone 9. Adaptive prescribed performance control for strict-feedback systems with nonlinear dead zone 10.A modified dynamic surface control for pure-feedback systems with nonlinear dead zoneIV. Modeling and control of uncertain systems with saturation 11.Saturation dynamics and modeling 12.ESO based adaptive sliding mode control for systems with input saturation13.Nonsingular terminal sliding mode funnel control for systems with unknown input saturation 14.Adaptive neural dynamic surface sliding mode control for uncertain systems with saturationV. Modeling and control of uncertain systems with hysteresis 15.Hysteresis dynamics and modeling 16.Adaptive parameter estimation and model inverse control for uncertain systems with backlash 17.Parameter identification and control for Hammerstein systems with hysteresis18.Adaptive parameter estimation and suspension control with continuous hysteresis modelAppendix A. Constants and Conversion Factors Appendix B. Introduction to MATLAB
