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    Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics
    Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics
    Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics
    Ebook587 pages6 hours

    Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics

    By Jing Na, Qiang Chen and Xuemei Ren

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    About this ebook

    Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics reports some of the latest research on modeling, identification and adaptive control for systems with nonsmooth dynamics (e.g., backlash, dead zone, friction, saturation, etc). The authors present recent research results for the modelling and control designs of uncertain systems with nonsmooth dynamics, such as friction, dead-zone, saturation and hysteresis, etc., with particular applications in servo systems. The book is organized into 19 chapters, distributed in five parts concerning the four types of nonsmooth characteristics, namely friction, dead-zone, saturation and hysteresis, respectively. Practical experiments are also included to validate and exemplify the proposed approaches.

    This valuable resource can help both researchers and practitioners to learn and understand nonlinear adaptive control designs. Academics, engineers and graduate students in the fields of electrical engineering, control systems, mechanical engineering, applied mathematics and computer science can benefit from the book. It can be also used as a reference book on adaptive control for servo systems for students with some background in control engineering.

    • Explains the latest research outputs on modeling, identification and adaptive control for systems with nonsmooth dynamics
    • Provides practical application and experimental results for robotic systems, and servo motors
    LanguageEnglish
    PublisherAcademic Press
    Release dateJun 12, 2018
    ISBN9780128136843
    Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics
    Author

    Jing Na

    Jing Na received his B.Eng. and Ph.D. degrees from the School of Automation, Beijing Institute of Technology, Beijing, China, in 2004 and 2010, respectively. He was a Monaco/ITER Postdoctoral Fellow at the ITER Organization, Saint-Paul-lès-Durance, France, and also a Marie Curie Intra-European Fellow with the Department of Mechanical Engineering, University of Bristol, U.K. Since 2010, he has been with the Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China, where he became a professor in 2013. He has co-authored one monograph and more than 100 international journal and conference papers. His current research interests include intelligent control, adaptive parameter estimation, nonlinear control.

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      Book preview

      Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics - Jing Na

      time.

      Part 1

      Introduction

      Outline

      Introduction

      Introduction

      The existence of non-smooth behaviors (e.g., friction, dead-zone, saturation, and hysteresis) in the control systems may deteriorate the performance severely, which in turn leads to difficulties and challenges in the control design and implementation. Classical methods to accommodate such non-smooth dynamics are based on the idea of inverse model compensation. This method presumes that offline modeling and identification should be conducted, which is not a trivial task. On the other hand, adaptive control has been proved to be a promising control design technique for systems with uncertain parameters, where the model and/or control parameters can be online adjusted by using the information on the systems operation. Hence, it is of interest to exploit adaptive schemes to address the modeling and control problems for uncertain systems subjected to the above mentioned non-smooth dynamics.

      1.1 Prologue

      In practical industrial plants, actuator and sensor non-linearities are among the key factors limiting both the static and dynamic performance of feedback control systems. Non-smooth non-linearities such as friction, dead-zone, hysteresis, and saturation are usually unavoidable in such control systems due to the use of various actuators and sensors: mechanical, hydraulic, pneumatic, magnetic, piezoelectric, etc. These hard non-linearities are ubiquitous and can serve as aggregate representation of more complex microscopic phenomena: friction, viscosity, elasticity, etc. Friction exists wherever there is motion or tendency for motion between two physical components, which could cause steady-state errors, limit cycles, or stick-slip phenomenon at low speed in the motion control systems. Dead-zone, a static input-output relationship for a range of input values gives no output, can be encountered in motors, hydraulic valves, and even biomedical actuation systems. Saturation is always imposed on physical actuators, which limits the maximum control power for the systems. Hysteresis, a dynamic characteristic with memory, exists in electro-magnetic and piezoelectric systems and devices. Although the characteristics of friction, dead-zone, saturation, and hysteresis are different, they are all non-smooth in nature.

      In comparison to other smooth non-linearities, such non-smooth dynamics are usually difficult to model since they may vary with time. Hence, control design of systems with non-smooth non-linearities has always been an important research topic in the control system field. In particular, the need for effective control methods to deal with non-smooth dynamics in practical engineering plants has motivated growing research interests and activities. Various control design methods based on different techniques and methodologies have been developed and verified in theory and practice, which, to some extent, can accommodate these non-linearities.

      The early and traditional idea to eliminate the harmful effect of such non-smooth non-linearities is to implement their inverses inside the controller. However, with this idea, the first concern is that the inverses of such non-linearities, possibly discontinuous, must exist, and moreover they can be also linearly parameterized as linear functions of the unknown parameters. This imposes stringent assumptions on the studied systems, and creates certain challenges in the control implementation. For instance, significant effort should be made to construct accurate models of such non-smooth dynamics, which is quite time-consuming and cost-demanding. Furthermore, with this inverse model compensation method, other uncertainties in the systems (e.g., parameter variations, external disturbances) need further considerations.

      Another control methodology, adaptive control, has been developed by combining a parameter estimator with appropriate feedback controls, which can cope with parameter uncertainties in the model. The basic idea of adaptive control is that the parameters of the controller and/or plant can be online adjusted based on the collected system information during the online operations. In particular, some recent effort has been made toward incorporating function approximation such as neural networks (NNs), fuzzy logic systems (FLSs) into adaptive control to handle unknown non-linearities in the systems. However, it is noted that most non-linear adaptive control techniques reported in the literature are for some specific non-linear systems with smooth non-linearities, and thus they are not applicable directly for systems with non-smooth non-linearities. By combining the idea of inverse model compensation and adaptive control, several adaptive control schemes have been recently reported to cope with actuator dead-zone, backlash, hysteresis, and saturation, which show potential by further tailoring adaptive control technique. Hence, it is appealing and of interests to explore more intelligent approaches to increase the control performance. This could be achieved by introducing more sophisticated piecewise linear approximated model of such non-smooth non-linearities, which are more suited for adaptive control design, and investigating model-free (e.g., data driven) based control methods.

      In this book, some recently proposed models of such non-smooth non-linearities and the associated adaptive control methods based on the derived models and the function approximation technique will be introduced. These new model and control designs are derived to handle uncertain dynamic systems containing friction, hysteresis, dead-zone, or saturation in the plants. We will show how non-smooth non-linear characteristics can be adaptively compensated and how desired system performance is achieved. Practical applications to several servo mechanisms are also included in this book. Some of the results presented in this book have evolved from the recent journal papers of the authors.

      1.2 Objective of the Book

      The objective of this book is to provide necessary introduction of four different non-smooth dynamics widely encountered in the electro-mechanical systems, such as friction, dead-zone, saturation, and hysteresis, and then to present details of modeling, control design, and analysis, and technical guidance for the control implementation of systems with such non-smooth behaviors and unknown non-linearities. The major focus is on introducing new models of such non-smooth behaviors, which are more suitable for control design and synthesis, and also on designing, analyzing, and implementing adaptive control, which are able to accommodate such non-smooth behaviors and other unknown dynamics (e.g., modeling uncertainties and disturbance).

      To achieve the proposed goal, we take inspiration from the adaptive parameter estimation, adaptive control, and neural networks. Since these studied non-smooth non-linearities have different characteristics, we will consider each of them individually in various controller designs. Each control design is discussed in detail and provided gradually, with most chapters building on their predecessors. It will be shown in each chapter how the non-smooth dynamics can be modeled and adaptively compensated, and how the desired control system response is achieved. The controller designed by using adaptive technique and function approximation allows to guarantee the system stability and to address the transient performance of the tracking error.

      Beyond the development of theoretical studies on the adaptive control design and performance analysis, in order to better suit the requirements of engineers, the book will also present application of the developed algorithms based on servo systems, and showcase experimental results.

      1.3 Book Outline

      This book includes 19 chapters, which are organized in five different parts.

      Part 1 provides background information related to non-smooth characteristics and states the motivation of this book. The overview of the book and the preview of chapters are also

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