Adaptive-Robust Control with Limited Knowledge on Systems Dynamics〈1st ed. 2020〉 : An Artificial Input Delay Approach and Beyond

著者名：Roy, Spandan/Kar, Indra Narayan

Springer（2019/10/08発売）

• 言語：ENG
• ISBN：9789811506390
• eISBN：9789811506406

Description

The book investigates the role of artificial input delay in approximating unknown system dynamics, referred to as time-delayed control (TDC), and provides novel solutions to current design issues in TDC. Its central focus is on designing adaptive-switching gain-based robust control (ARC) for a class of Euler–Lagrange (EL) systems with minimal or no knowledge of the system dynamics parameters. The newly proposed TDC-based ARC tackles the commonly observed over- and under-estimation issues in switching gain. The consideration of EL systems lends a practical perspective on the proposed methods, and each chapter is supplemented by relevant experimental data.

The book offers a unique resource for researchers in the areas of ARC and TDC alike, and covers the state of the art, new algorithms, and future directions.

Table of Contents

Introduction.- Time-Delayed Control of a Class of EL System: Design Issues and Solutions.- Adaptive Robust Time-Delayed Control for a Class of Uncertain EL Systems.- Time-Delayed Control of a Class of EL Systems with only Position Feedback.- Adaptive-Robust Control of a Class of EL Systems with Unknown System Dynamics.- Conclusion.