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Adaptive-Robust Control with Limited Knowledge on Systems Dynamics: An Artificial Input Delay Approach and Beyond de Spandan Roy

Adaptive-Robust Control with Limited Knowledge on Systems Dynamics: An Artificial Input Delay Approach and Beyond: Studies in Systems, Decision and Control, cartea 257

Autor Spandan Roy, Indra Narayan Kar
en Limba Engleză Paperback – 18 oct 2020
The book investigates the role of artificial input delay in approximating unknown system dynamics, referred to as time-delayed control (TDC), and provides novel solutions to current design issues in TDC. Its central focus is on designing adaptive-switching gain-based robust control (ARC) for a class of Euler–Lagrange (EL) systems with minimal or no knowledge of the system dynamics parameters. The newly proposed TDC-based ARC tackles the commonly observed over- and under-estimation issues in switching gain. The consideration of EL systems lends a practical perspective on the proposed methods, and each chapter is supplemented by relevant experimental data.
The book offers a unique resource for researchers in the areas of ARC and TDC alike, and covers the state of the art, new algorithms, and future directions.
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Specificații

ISBN-13: 9789811506420
ISBN-10: 9811506426
Pagini: 144
Ilustrații: XX, 144 p. 33 illus., 29 illus. in color.
Dimensiuni: 155 x 235 mm
Greutate: 0.24 kg
Ediția:1st ed. 2020
Editura: Springer Nature Singapore
Colecția Springer
Seria Studies in Systems, Decision and Control

Locul publicării:Singapore, Singapore

Cuprins

Introduction.- Time-Delayed Control of a Class of EL System: Design Issues and Solutions.- Adaptive Robust Time-Delayed Control for a Class of Uncertain EL Systems.- Time-Delayed Control of a Class of EL Systems with only Position Feedback.- Adaptive-Robust Control of a Class of EL Systems with Unknown System Dynamics.- Conclusion.




Notă biografică

Dr. Spandan Roy currently serves as an Assistant Professor at the Robotics Research Center, International Institute of Information Technology, Hyderabad (IIIT-H). He received his B.Tech. from West Bengal University of Technology, completed his M.Tech. in Mechatronics at the Academy of Scientific and Innovative Research, CSIR-Central Mechanical Engineering Research Institute, and received his Ph.D. at the Department of Electrical Engineering, Indian Institute of Technology, Delhi. He was a Postdoctoral Fellow at the Delft Center for Systems and Control, Delft University of Technology, The Netherlands. His main research interests are adaptive-robust control, artificial delay based design, switched systems and robotics. 
Prof. Indra Narayan Kar currently serves as a professor at the Department of Electrical Engineering, Indian Institute of Technology Delhi. He completed his B.E. at Bengal Engineering College (now known as Indian Institute of Engineering Science and Technology, Shibpur), and his M.Tech. and Ph.D. at the Indian Institute of Technology Kanpur. His research interests include nonlinear systems theory, contraction analysis, adaptive robust control, time-delay system, robust-optimal control theory, cyber-physical systems, control of multi-agent systems, and robotics. He has published many papers in his areas of interest and also co-author of few patents.

Textul de pe ultima copertă

The book investigates the role of artificial input delay in approximating unknown system dynamics, referred to as time-delayed control (TDC), and provides novel solutions to current design issues in TDC. Its central focus is on designing adaptive-switching gain-based robust control (ARC) for a class of Euler–Lagrange (EL) systems with minimal or no knowledge of the system dynamics parameters. The newly proposed TDC-based ARC tackles the commonly observed over- and under-estimation issues in switching gain. The consideration of EL systems lends a practical perspective on the proposed methods, and each chapter is supplemented by relevant experimental data.
The book offers a unique resource for researchers in the areas of ARC and TDC alike, and covers the state of the art, new algorithms, and future directions.

Caracteristici

Provides detailed evaluations of adaptive switching gain-based robust control and the role of artificial delay Presents an artificial delay-based approach that mitigates over- and under-estimation issues in switching gain All chapters are supported by experimental results using a mobile robot