Роботехника

Список источников >Нехудожественная литература >Компьютерная литература >Базы данных >Искусственный интеллект >Роботехника >

Adaptive Control of Systems with Actuator Failures

Автор: Gang Tao
Год: 2004
Издание: [не указанo]
Страниц: 299
ISBN: 1852337885
Book DescriptionWhen an actuator fails, chaos or calamity can often ensue. It is because the actuator is the final step in the control chain, when the control system’s instructions are made physically real that failure can be so important and hard to compensate for. When the nature or location of the failure is unknown, the offsetting of consequent system uncertainties becomes even more awkward. Adaptive Control of Systems with Actuator Failures centres on counteracting situations in which unknown control inputs become indeterminately unresponsive over an uncertain period of time by adapting the responses of remaining functional control systems. Both “lock-in-place” and varying-value failures are dealt with. The results presented demonstrate: the existence of nominal plant-model matching controller structures with associated matching conditions for all possible failure patterns; the choice of a desirable adaptive controller structure; derivation of novel...
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