CDC2000 Adaptive Control of Nonlinear Systems

Adaptive Control of Nonlinear Systems
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	Adaptive Robust Stabilization of Dynamic Nonholonomic Chained Systems Authors: Shuzhi Sam Ge, Guangyu Zhou, Volume: 1, Page 1445 Paper number 1333 Abstract: In this paper, the stabilization problem is investigated for dynamic nonholonomic systems with unknown inertia parameters and disturbances. Firstly, the nonholonomic kinematic subsystem is transformed into a skew-symmetric form and the properties of the overall systems are discussed. Then, a robust adaptive controller is presented where adaptive control technique is used to compensate for the parametric uncertainties and sliding mode control is to suppress the bounded disturbances. The controller guarantees the outputs of the dynamic subsystem to track some bounded auxiliary signals which subsequently drive the kinematic subsystem to the origin. Simulation study on the control of a unicycle wheeled mobile robot shows the effectiveness of the proposed approach. CD001333.PDF (From Author) TOP Adaptive Sinusoidal Disturbance Cancellation Strategy for Pointing Applications Authors: Haomin Lin, John E. McInroy, Volume: 1, Page 1451 Paper number 1908 Abstract: This paper combines an adaptive sinusoidal disturbance cancellation scheme with linear pointing control techniques. The approach utilizes a six--axis active platform to reject disturbances with a large sinusoidal component, which could be caused by a noisy host or target. Since often the frequency of the sinusoidal disturbance can not be precisely known, a Phase Locked Loop(PLL) algorithm is used to catch the frequency, and a method for PLL design is developed. Experimental results on the UW (University of Wyoming) hexapod demonstrate a 50--fold decrease in pointing errors due to the monotone disturbance. CD001908.PDF (From Author) TOP Adaptive Nonlinear H-Infinity Control for Processes with Bounded Variations of Parameters: General Relative Degree Case Authors: Yoshihiko Miyasato, Volume: 1, Page 1453 Paper number 22 Abstract: A new class of adaptive nonlinear H-infinity control systems for processes with bounded variations of parameters, is proposed in this manuscript. Those control schemes are derived as solutions of particular nonlinear H-infinity control problems, where unknown system parameters are regarded as exogenous disturbances to the processes, and thus, in the resulting control systems, the L2 gains from system parameters to generalized outputs are made less than the prescribed positive constants. It is shown that the proposed control strategy can be applied to any time-varying (and even time invariant) systems, and the resulting control systems are bounded for arbitrarily large but bounded variations of time-varying parameters. Also, the control schemes are shown to be sub-optimal to some H-infinity cost functionals (or certain differential games), when the high-frequency gains are time-invariant. Even if that condition does not hold, the boundedness of overall systems is assured and the L2 gains f CD000022.PDF (Scanned) TOP Adaptive Control of a Class of Nonlinear Systems Preceded by an Unknown Backlash-Like Hysteresis Authors: Chun-Yi Su, YongHong Tan, Y. Stepanenko, Volume: 1, Page 1459 Paper number 113 Abstract: This paper deals with adaptive control of a class of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a differential equation. By exploiting solution properties of the differential equation and combining those properties with adaptive control techniques, a robust adaptive control algorithm is developed without constructing a hysteresis inverse. The new control law ensures global stability of the adaptive system and achieves both stabilization and tracking to within a desired precision. Simulations performed on a nonlinear system illustrate and clarify the approach. CD000113.PDF (From Author) CD000113.PDF (Scanned) TOP Adaptive Passivation of a Class of Uncertain Nonlinear Systems Authors: Miguel Ríos-Bolívar, Vivian Acosta-Contreras, Hebertt Sira-Ramírez, Volume: 1, Page 1465 Paper number 2133 Abstract: We propose in this work an adaptive passivation procedure for affine nonlinear systems with constant but unknown parameters, which is achievable through an adaptive state-dependent input coordinate transformation. The unknown parameters are assumed to enter linearly into the drift vector fields of the dynamic equations defining the nonlinear system. It is shown that the update law designed for the unknown parameters qualifies as a force which does not work in the context of a general passivity canonical form for nonlinear systems. The design of passivity-based controllers, via energy shaping and damping injection, is addressed and an application of this approach for the adaptive stabilization of a gravity-tank/pipe system is also considered. CD002133.PDF (From Author) TOP Adaptive Control Based on a Parametric Affine Model for Tail-Controlled Missiles Authors: Jin Young Choi, Dongkyoung Chwa, Volume: 1, Page 1471 Paper number 1643 Abstract: This paper presents an adaptive control against uncertainties in tail-controlled STT (Skid-to-Turn) missiles. First, we derive an analytic uncertainty model from a parametric affine missile model developed by the authors. Based on this analytic model, an adaptive feedback linearizing control law accompanied by a sliding mode control law is proposed. We provide analyses of stability and output tracking performance of the overall adaptive missile system. The performance and validity of the proposed adaptive control scheme is demonstrated by simulation. CD001643.PDF (From Author) TOP