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Download Adaptive Control of Nonsmooth Dynamic Systems by Mattias Nordin, Per Bodin, Per-Olof Gutman (auth.), Gang Tao PDF

By Mattias Nordin, Per Bodin, Per-Olof Gutman (auth.), Gang Tao PhD, Frank L. Lewis PhD (eds.)

A entire connection with adaptive keep watch over of platforms with nonsmooth nonlinearities such as:

• backlash;

• dead-zones;

• part failure;

• friction;

• hysteresis;

• saturation;

• time delays.

These nonlinearities in commercial actuators reason critical difficulties within the movement keep an eye on of business tactics, fairly in view of recent necessities for pace and precision of move, comparable to happen in semiconductor production, precision machining and in different places. Actuator nonlinearities are ubiquitous in engineering perform and restrict regulate procedure performance.

While general suggestions keep an eye on on my own can't deal with those nonsmooth nonlinearities successfully, this e-book, with unified and systematic adaptive layout tools constructed in sixteen chapters, indicates how such nonlinear features may be successfully compensated for by utilizing adaptive and clever keep watch over strategies. this permits wanted procedure functionality to be accomplished within the presence of doubtful nonlinearities.

With broad surveys of literature and finished summaries of assorted layout tools the authors of the publication chapters, who're specialists of their components of curiosity, current new options to a few vital matters in adaptive keep watch over of platforms with a number of varieties of nonsmooth nonlinearities.

In addition to offering strategies, the publication can also be aimed toward motivating extra study actions within the very important box of adaptive keep an eye on of nonsmooth nonlinear commercial structures by means of formulating a number of difficult open difficulties in similar areas.

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Extra resources for Adaptive Control of Nonsmooth Dynamic Systems

Example text

Ii) Whenever parameter updating occurs ILlul that the parameter error never increases.

A. E. Vander Velde. Multiple-Input Describing Functions and Nonlinear System Design. McGraw-Hill, 1968. 13. J. H. Liversidge. Backlash and Resilience within Glosed Loop of Automatie Gontrol Systems. Academic Press, 1952. 14. M. Nordin. Uncertain systems with backlash: Analysis, identification and synthesis. Licenciate thesis, trita/mat-95-os3, Royal Institute of Technology, 1995. 15. M. Nordin, J. O. Gutman. New models far backlash and gear play. Int. J. of Adaptive Gontrol and Signal Processing, 1:9-63, 1997.

Here both higher and lower harmonics than the base frequency are large. Note that here the load displacement satisfies (Bd,Od) E Atubber for this case, see (40). This means that the measured behavior reflects the fact that there is rubber in the coupling. It seems that the new model approximates weIl the behavior of this twomass system. Numerous other simulations and measurements for different loads and frequencies fit very weH to measurements. Some of these are presented in [15], ineluding mo des with persisting right contact, where the measured behavior depends only on the rubber thickness.

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