Safe Adaptive Control
Stefanovic, Margareta.
Safe Adaptive Control Data-Driven Stability Analysis and Robust Synthesis / [electronic resource] : by Margareta Stefanovic, Michael G. Safonov. - XII, 148p. 89 illus., 21 illus. in color. online resource. - Lecture Notes in Control and Information Sciences, 405 0170-8643 ; . - Lecture Notes in Control and Information Sciences, 405 .
Introduction -- Definitions and Preliminary Facts -- Stability Results -- Generalization to the Time-varying Case -- Switched Adaptive Controller: Robust Synthesis -- Comparison with Other Switching Adaptive Schemes -- Conclusion.
Safe Adaptive Control gives a formal and complete algorithm for assuring the stability of a switched control system when at least one of the available candidate controllers is stabilizing. The possibility of having an unstable switched system even in the presence of a stabilizing candidate controller is demonstrated by referring to several well-known adaptive control approaches, where the system goes unstable when a large mismatch between the unknown plant and the available models exists ("plant-model mismatch instability"). Sufficient conditions for this possibility to be avoided are formulated, and a "recipe" to be followed by the control system designer to guarantee stability and desired performance is provided. The problem is placed in a standard optimization setting. Unlike the finite controller sets considered elsewhere, the candidate controller set is allowed to be continuously parametrized so that it can deal with plants with a very large range of uncertainties.
9781849964531
10.1007/978-1-84996-453-1 doi
Engineering.
Artificial intelligence.
Systems theory.
Mathematical optimization.
Engineering.
Control.
Systems Theory, Control.
Optimization.
Artificial Intelligence (incl. Robotics).
TJ212-225
629.8
Safe Adaptive Control Data-Driven Stability Analysis and Robust Synthesis / [electronic resource] : by Margareta Stefanovic, Michael G. Safonov. - XII, 148p. 89 illus., 21 illus. in color. online resource. - Lecture Notes in Control and Information Sciences, 405 0170-8643 ; . - Lecture Notes in Control and Information Sciences, 405 .
Introduction -- Definitions and Preliminary Facts -- Stability Results -- Generalization to the Time-varying Case -- Switched Adaptive Controller: Robust Synthesis -- Comparison with Other Switching Adaptive Schemes -- Conclusion.
Safe Adaptive Control gives a formal and complete algorithm for assuring the stability of a switched control system when at least one of the available candidate controllers is stabilizing. The possibility of having an unstable switched system even in the presence of a stabilizing candidate controller is demonstrated by referring to several well-known adaptive control approaches, where the system goes unstable when a large mismatch between the unknown plant and the available models exists ("plant-model mismatch instability"). Sufficient conditions for this possibility to be avoided are formulated, and a "recipe" to be followed by the control system designer to guarantee stability and desired performance is provided. The problem is placed in a standard optimization setting. Unlike the finite controller sets considered elsewhere, the candidate controller set is allowed to be continuously parametrized so that it can deal with plants with a very large range of uncertainties.
9781849964531
10.1007/978-1-84996-453-1 doi
Engineering.
Artificial intelligence.
Systems theory.
Mathematical optimization.
Engineering.
Control.
Systems Theory, Control.
Optimization.
Artificial Intelligence (incl. Robotics).
TJ212-225
629.8