E-raamat: Adaptive Control of Systems with Actuator Failures

Preface		v
Acknowledgements		xi
1. Introduction		1	(14)
1.1 Actuator Failure Compensation		1	(3)
1.1.1 Literature Overview		2	(2)
1.1.2 Research Motivation		4	(1)
1.2 Adaptive Control System Concepts		4	(3)
1.3 Adaptive Actuator Failure Compensation		7	(6)
1.3.1 Failure Compensation for Linear Systems		7	(2)
1.3.2 Failure Compensation for Nonlinear Systems		9	(1)
1.3.3 Basic Assumption		10	(1)
1.3.4 Basic Actuation Scheme for Failure Compensation		11	(1)
1.3.5 Redundancy and Failure Uncertainty		12	(1)
1.4 Book Outline		13	(2)
2. State Feedback Designs for State Tracking		15	(40)
2.1 Fundamental Issues and Solutions		15	(12)
2.1.1 Basic Plant-Model Matching Conditions		17	(2)
2.1.2 Actuator Failure Compensation		19	(2)
2.1.3 Adaptive Compensation Design		21	(6)
2.2 Designs for Parametrized Varying Failures		27	(4)
2.2.1 Plant-Model Matching Control Design		27	(2)
2.2.2 Adaptive Control Design		29	(2)
2.3 Designs for Unparametrizable Failures		31	(7)
2.3.1 Stabilizing Control		32	(2)
2.3.2 Adaptive Control Design		34	(2)
2.3.3 Robust Adaptation		36	(2)
2.4 Designs for Multigroup Actuators		38	(4)
2.5 Design for up to m-q Actuator Failures		42	(10)
2.5.1 Problem Statement		43	(1)
2.5.2 Plant-Model Matching Control		44	(3)
2.5.3 Adaptive Control Design		47	(4)
2.5.4 Boeing 747 Lateral Control Simulation		51	(1)
2.6 Concluding Remarks		52	(3)
3 . State Feedback Designs for Output Tracking		55	(140)
3.1 Designs for Lock-in-Place Failures		55	(12)
3.1.1 Problem Statement		56	(1)
3.1.2 A Plant-Model Output Matching Controller		56	(3)
3.1.3 Adaptive Control Design		59	(4)
3.1.4 Boeing 747 Lateral Control Simulation I		63	(4)
3.2 Designs for Varying Failures		67	(18)
3.2.1 Problem Statement		67	(3)
3.2.2 A Lemma for Output Matching		70	(3)
3.2.3 Adaptive Rejection of Unmatched Input Disturbance		73	(2)
3.2.4 Application to Actuator Failure Compensation		75	(3)
3.2.5 Extension to the General Case		78	(2)
3.2.6 Boeing 747 Lateral Control Simulation II		80	(5)
4. Output Feedback Designs for Output Tracking		85	(18)
4.1 Problem Statement		85	(2)
4.2 Plant-Model Output Matching		87	(3)
4.3 Adaptive Control		90	(4)
4.4 Boeing 747 Lateral Control Simulation		94	(1)
4.5 Designs for Varying Failures		95	(8)
4.5.1 Adaptive Disturbance Rejection		98	(2)
4.5.2 Adaptive Failure Compensation		100	(3)
5. Designs for Multivariable Systems		103	(20)
5.1 Problem Statement		104	(2)
5.2 Plant-Model Matching Control		106	(5)
5.3 Adaptive Control Designs		111	(7)
5.3.1 Basic Controller Structure		111	(1)
5.3.2 Error Equation		112	(1)
5.3.3 Design I: The Basic Scheme		113	(2)
5.3.4 Design II: Based on SDU Factorization of Kpa		115	(3)
5.4 Boeing 737 Lateral Control Simulation		118	(3)
5.5 Concluding Remarks		121	(2)
6. Pole Placement Designs		123	(14)
6.1 Problem Statement		123	(1)
6.2 Nominal Matching Controller Design		124	(6)
6.3 Adaptive Control Scheme		130	(2)
6.4 DC-8 Lateral Control Simulation		132	(5)
7. Designs for Linearized Aircraft Models		137	(26)
7.1 Linearized Aircraft Models		137	(2)
7.2 Design for Uncertain Actuator Failures		139	(4)
7.2.1 Problem Statement		140	(1)
7.2.2 Adaptive Compensation Scheme		141	(1)
7.2.3 Longitudinal Control Simulation I		142	(1)
7.3 State Tracking Design		143	(9)
7.3.1 Problem Statement		143	(2)
7.3.2 Adaptive Control Scheme		145	(1)
7.3.3 Longitudinal Control Simulation II		146	(6)
7.4 Output Tracking Designs		152	(4)
7.4.1 Problem Statement		152	(1)
7.4.2 Adaptive Control Schemes		153	(2)
7.4.3 Longitudinal Control Simulation III		155	(1)
7.5 Concluding Remarks		156	(7)
8. Robust Designs for Discrete-Time Systems		163	(14)
8.1 Problem Statement		164	(1)
8.2 Plant-Model Output Matching		165	(3)
8.3 Adaptive Control Design		168	(2)
8.4 Robust Adaptive Failure Compensation		170	(4)
8.4.1 Robustness of Plant-Model Matching		171	(1)
8.4.2 Robust Adaptive Laws		172	(2)
8.5 Boeing 747 Lateral Control Simulation		174	(3)
9. Failure Compensation for Nonlinear Systems		177	(18)
9.1 Problem Formulation		177	(2)
9.2 Design for Feedback Linearizable Systems		179	(6)
9.3 An Alternative Design		185	(5)
9.4 Issues for Nonlinear Dynamics		190	(5)
10. State Feedback Designs for Nonlinear Systems		195	(38)
10.1 Design for Systems Without Zero Dynamics		195	(1)
10.1.1 Output Matching Design		199	(1)
10.1.2 Adaptive Actuator Failure Compensation		201	(1)
10.1.3 Wing Rock Control of an Aircraft Model		210	(1)
10.2 Design for Systems with Zero Dynamics		211	(1)
10.2.1 An Adaptive Failure Compensation Design		213	(1)
10.2.2 An Adaptive Design with Relaxed Conditions		219	(1)
10.2.3 Robustness		224	(1)
10.2.4 Longitudinal Control of a Twin Otter Aircraft		225	(8)
11. Nonlinear Output Feedback Designs		233	(32)
11.1 Problem Statement		233	(3)
11.2 Adaptive Compensation Control		236	(1)
11.2.1 State Observer		238	(1)
11.2.2 Backstepping Design		238	(8)
11.3 Stability Analysis		246	(2)
11.4 Design for State-Dependent Nonlinearities		248	(1)
11.4.1 Reduced-Order Observer		249	(1)
11.4.2 Full-Order Observer		250	(1)
11.4.3 Design Procedure		251	(1)
11.4.4 Longitudinal Control of a Hypersonic Aircraft		253	(9)
11.5 Concluding Remarks		262	(3)
12. Conclusions and Research Topics		265	(4)
Compensation Designs		265	(1)
System Performance		266	(1)
Robustness Issue		266	(2)
Open Problems		268	(1)
Potential Applications		268	(1)
Appendix		269	(16)
A.1 Model Reference Adaptive Control		269	(1)
A.1.1 MRAC: State Feedback for State Tracking		269	(1)
A.1.2 MRAC: State Feedback for Output Tracking		272	(1)
A.1.3 MRAC: Output Feedback for Output Tracking		275	(4)
A.2 Multivariable MRAC		279	(3)
A.3 Adaptive Pole Placement Control		282	(3)
References		285	(10)
Index		295

Gang Tao received his B.S. degree in Electrical Engineering from the University of Science and Technology of China in 1982, his M.S. degrees in Electrical Engineering, Computer Engineering and Applied Mathematics in 1984, 1987, 1989, respectively, and Ph.D. degree in Electrical Engineering in 1989 all from the University of Southern California. He was a visiting assistant professor at Washington State University from 1989 to 1991, an assistant research engineer at the University of California at Santa Barbara from 1991 to 1992, and an assistant professor at the University of Virginia from 1992 to 1998, where he is now an associate professor. He was a guest editor for International Journal of Adaptive Control and Signal Processing, and is currently an associate editor for IEEE Transactions on Automatic Control and for the disciplines most important journal Automatica. He has been a program committee member for numerous international conferences, among them, American Control Conference and the Conference on Decision and Control in 2001 and 2002.. He has published five books, over 45 journal papers and book chapters, and over 95 conference papers on adaptive cotnrol, nonlinear control, multivariable control, optimal control, and control applications and robotics. He is a Senior Member of IEEE. His research has been supported by NSF, ARMY, NASA, MedQuest, SCEEE and Edison Power.