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Optimal Lyapunov design of robust an...

Li, Zhong-Hua.

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Optimal Lyapunov design of robust and adaptive nonlinear controllers.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Optimal Lyapunov design of robust and adaptive nonlinear controllers./
作者:	Li, Zhong-Hua.
面頁冊數:	224 p.
附註:	Source: Dissertation Abstracts International, Volume: 59-06, Section: B, page: 2947.
Contained By:	Dissertation Abstracts International59-06B.
標題:	Engineering, Electronics and Electrical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=9836431
ISBN:	9780591899283

Optimal Lyapunov design of robust and adaptive nonlinear controllers.
Li, Zhong-Hua.

Optimal Lyapunov design of robust and adaptive nonlinear controllers. - 224 p.

Source: Dissertation Abstracts International, Volume: 59-06, Section: B, page: 2947.

Thesis (Ph.D.)--University of Maryland, College Park, 1998.

Due to the difficulty in solving the Hamilton-Jacobi-Isaacs (Bellman) equations, efforts made over the past years in control of nonlinear systems with uncertainties (robust and adaptive) have been focused on achieving stability rather than optimality. In this dissertation, an inverse optimal differential game problem is formulated to avoid solving the formidable Hamilton-Jacobi-Isaacs equation associated with a "nonlinear

ISBN: 9780591899283Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Optimal Lyapunov design of robust and adaptive nonlinear controllers.
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100 1 $a Li, Zhong-Hua. $3 1922054
245 1 0 $a Optimal Lyapunov design of robust and adaptive nonlinear controllers.
300 $a 224 p.
500 $a Source: Dissertation Abstracts International, Volume: 59-06, Section: B, page: 2947.
500 $a Adviser: Miroslav Krstic.
502 $a Thesis (Ph.D.)--University of Maryland, College Park, 1998.
520 $a Due to the difficulty in solving the Hamilton-Jacobi-Isaacs (Bellman) equations, efforts made over the past years in control of nonlinear systems with uncertainties (robust and adaptive) have been focused on achieving stability rather than optimality. In this dissertation, an inverse optimal differential game problem is formulated to avoid solving the formidable Hamilton-Jacobi-Isaacs equation associated with a "nonlinear $\ cal H\sb{\infty} $" design problem for nonlinear systems subject to disturbances. After establishing the equivalence of the solvability of an Isaacs equation with the well known input-to-state stability concept, the optimal design is converted into the input-to-state stabilization of the nonlinear systems with the disturbances as the external inputs. Based on this approach, the first constructive "nonlinear $\ cal H\sb{\infty} $" controllers are designed for the nonlinear systems with disturbances. For nonlinear systems with unknown parameters, an "inverse optimal" adaptive tracking problem is posed and solved based on the adaptive tracking control Lyapunov function whose existence guarantees the solvability of the Hamilton-Jacobi-Bellman equation associated with the inverse optimal problem. For the strict feedback systems, these are the first such results that solve a problem left open in the previous adaptive backstepping designs--getting transient performance bounds that include an estimate of control effort.
520 $a Besides laying out the foundations for inverse optimal disturbance attenuation and inverse optimal adaptive tracking for continuous-time nonlinear systems, some related problems are also addressed: maximizing regions of attraction for nonlinear systems with singularities, and asymptotic/geometric analysis of adaptive nonlinear systems in the general case. As application examples, the inverse optimal robust and adaptive design methods are applied to the control of ships and rigid spacecraft. A related adaptive optimal control application problem--the anti-lock braking control using extremum-seeking is also studied.
590 $a School code: 0117.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, System Science. $3 1018128
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710 2 0 $a University of Maryland, College Park. $3 657686
773 0 $t Dissertation Abstracts International $g 59-06B.
790 1 0 $a Krstic, Miroslav, $e advisor
790 $a 0117
791 $a Ph.D.
792 $a 1998
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=9836431