CDC2000 Applications of Nonlinear Adaptive Control

Applications of Nonlinear Adaptive Control
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	Direct Adaptive Control for Nonlinear Uncertain Systems with Bounded Energy L_2 Disturbances Authors: Wassim M. Haddad, Tomohisa Hayakawa, Volume: 1, Page 2419 Paper number 72 Abstract: A direct adaptive nonlinear control framework for multivariable nonlinear uncertain systems with exogenous L_2 disturbances is developed. The proposed framework is Lyapunov-based and guarantees partial asymptotic stability of the closed-loop system; that is, asymptotic stability with respect to part of the closed-loop system states associated with the plant, as well as a nonexpansivity constraint on the closed-loop input-output map. Finally, an illustrative numerical example is provided to demonstrate the efficacy of the proposed approach. CD000072.PDF (From Author) TOP A Quaternion-Based Adaptive Attitude Tracking Controller Without Velocity Measurements Authors: Bret T. Costic, Darren M. Dawson, Marcio S. de Queiroz, Vikram Kapila, Volume: 1, Page 2424 Paper number 1094 Abstract: The main problem addressed in this paper is the quaternion-based, attitude tracking control of rigid spacecraft without angular velocity measurements and in the presence of an unknown inertia matrix. As a stepping-stone, we first design an adaptive, full-state feedback controller that compensates for parametric uncertainty while ensuring asymptotic attitude tracking errors. The adaptive, full-state feedback controller is then redesigned such that the need for angular velocity measurements is eliminated. The proposed adaptive, output feedback controller ensures asymptotic attitude tracking. CD001094.PDF (From Author) TOP Coordinated Adaptive Robust Contour Tracking of Linear-Motor-Driven Tables in Task Space Authors: Li Xu, Bin Yao, Volume: 1, Page 2430 Paper number 2173 Abstract: In order to improve the overall contouring performance, it appears that it is no longer possible to neglect dynamic coupling phenomena that occur during contour tracking, especially for linear motor systems which often move at high speed. This paper studies the high performance contour tracking control of linear-motor-driven tables. The table dynamics is first transformed into a task coordinate frame. A discontinuous projection based adaptive robust controller (ARC) which explicitly takes into account the dynamic coupling effect is constructed to improve the contouring performance under both parametric uncertainties and uncertain nonlinearities. A desired compensation ARC scheme is also presented, in which the regressor is calculated using desired contour information only. Both schemes are implemented and compared on a linear-motor-driven X-Y table. CD002173.PDF (From Author) TOP Adaptive Integral Sliding Mode Control for Active Vibration Absorber Design Authors: Tri-Tan Van Cao, Ley Chen, Fangpo He, Karl Sammut, Volume: 1, Page 2436 Paper number 9166 Abstract: A new tuning method for active vibration absorber design is presented in this paper. A robust, adaptive control scheme based on a variable structure with an adaptive discontinuity surface is designed and simulated. Robust synthesis of an adaptive discontinuity surface based on an augmented state-space is discussed. The proposed tuning scheme has three superior features compared with the existing counterparts in that: (i) it is completely insensitive to changes in the stiffness and damping of the absorber, (ii) it is capable of suppressing cyclic vibrations over a wide range of frequencies, (iii) its real-time operation requires only one adjustable gain. CD009166.PDF (From Author) TOP Iterative Feedback Tuning of Controllers for a Two-Mass Spring System with Friction Authors: Kenichi Hamamoto, Takahiro Fukuda, Toshiharu Sugie, Volume: 1, Page 2438 Paper number 1874 Abstract: In this paper, we present a two-degree-of-freedom controller tuning for two-mass spring systems with friction based on the IFT (Iterative Feedback Tuning) approach. While two-mass spring systems are widely used, they sometimes have severe friction. In such a case, the existing IFT methods may not work very well because they heavily rely on the linearity of the plants. In order to cope with such cases, we adopt two strategies. One is the separate tuning of the feedback and feedforward controller. The other is to introduce a quasi-Newton method into a parameter renewal law. The effectiveness of the proposed method is demonstrated through numerical simulations and an experiment. CD001874.PDF (From Author) TOP A Practical Application of Recent Results in Model and Controller Validation to a Ferrosilicon Production Process Authors: Beno^it Codrons, Xavier Bombois, Michel Gevers, Gérard Scorletti, Volume: 1, Page 2444 Paper number 1636 Abstract: This paper presents the application of our recently developed theory on model validation for control and controller validation in a Prediction Error framework to a realistic industrial case study. The industrial application, taken from a paper by Ingason Jonsson (1998), concerns the control of the silicon concentration in a ferrosilicon production process. Our case study produces findings about the design of the validation experiment (validation in open or closed loop). It also illustrates the respective merits of the tools developed, respectively, for control-oriented model validation and for the validation of a particular controller. CD001636.PDF (From Author) TOP