Adaptive Control. Algorithms, Analysis and Applications PDF
Preview Adaptive Control. Algorithms, Analysis and Applications
Communications and Control Engineering Forothertitlespublishedinthisseries,goto www.springer.com/series/61 SeriesEditors (cid:2) (cid:2) (cid:2) (cid:2) A.Isidori J.H.vanSchuppen E.D.Sontag M.Thoma M.Krstic Publishedtitlesinclude: StabilityandStabilizationofInfiniteDimensional SwitchedLinearSystems SystemswithApplications ZhendongSunandShuzhiS.Ge Zheng-HuaLuo,Bao-ZhuGuoandOmerMorgul SubspaceMethodsforSystemIdentification NonsmoothMechanics(Secondedition) TohruKatayama BernardBrogliato DigitalControlSystems NonlinearControlSystemsII IoanD.LandauandGianlucaZito AlbertoIsidori MultivariableComputer-controlledSystems L2-GainandPassivityTechniquesinNonlinearControl EfimN.RosenwasserandBernhardP.Lampe ArjanvanderSchaft DissipativeSystemsAnalysisandControl ControlofLinearSystemswithRegulationandInput (Secondedition) Constraints BernardBrogliato,RogelioLozano,BernhardMaschke AliSaberi,AntonA.StoorvogelandPeddapullaiah andOlavEgeland Sannuti AlgebraicMethodsforNonlinearControlSystems RobustandH∞Control GiuseppeConte,ClaudeH.MoogandAnnaM.Perdon BenM.Chen PolynomialandRationalMatrices ComputerControlledSystems TadeuszKaczorek EfimN.RosenwasserandBernhardP.Lampe Simulation-basedAlgorithmsforMarkovDecision ControlofComplexandUncertainSystems Processes StanislavV.EmelyanovandSergeyK.Korovin HyeongSooChang,MichaelC.Fu,JiaqiaoHuand StevenI.Marcus RobustControlDesignUsingH∞Methods IanR.Petersen,ValeryA.Ugrinovskiand IterativeLearningControl AndreyV.Savkin Hyo-SungAhn,KevinL.MooreandYangQuanChen ModelReductionforControlSystemDesign DistributedConsensusinMulti-vehicleCooperative GoroObinataandBrianD.O.Anderson Control WeiRenandRandalW.Beard ControlTheoryforLinearSystems HarryL.Trentelman,AntonStoorvogelandMaloHautus ControlofSingularSystemswithRandomAbrupt Changes FunctionalAdaptiveControl El-KébirBoukas SimonG.FabriandVisakanKadirkamanathan NonlinearandAdaptiveControlwithApplications Positive1Dand2DSystems AlessandroAstolfi,DimitriosKaragiannisandRomeo TadeuszKaczorek Ortega IdentificationandControlUsingVolterraModels Stabilization,OptimalandRobustControl FrancisJ.DoyleIII,RonaldK.PearsonandBabatunde AzizBelmiloudi A.Ogunnaike ControlofNonlinearDynamicalSystems Non-linearControlforUnderactuatedMechanical FelixL.Chernous’ko,IgorM.AnanievskiandSergey Systems A.Reshmin IsabelleFantoniandRogelioLozano PeriodicSystems RobustControl(Secondedition) SergioBittantiandPatrizioColaneri JürgenAckermann DiscontinuousSystems FlowControlbyFeedback YuryV.Orlov OleMortenAamoandMiroslavKrstic ConstructionsofStrictLyapunovFunctions LearningandGeneralization(Secondedition) MichaelMalisoffandFrédéricMazenc MathukumalliVidyasagar ControllingChaos ConstrainedControlandEstimation HuaguangZhang,DerongLiuandZhiliangWang GrahamC.Goodwin,MariaM.Seronand JoséA.DeDoná StabilizationofNavier-StokesFlows ViorelBarbu RandomizedAlgorithmsforAnalysisandControl ofUncertainSystems DistributedControlofMulti-agentNetworks RobertoTempo,GiuseppeCalafioreandFabrizio WeiRenandYongcanCao Dabbene Ioan Doré Landau (cid:2) Rogelio Lozano (cid:2) Mohammed M’Saad (cid:2) Alireza Karimi Adaptive Control Algorithms, Analysis and Applications Second Edition Prof.IoanDoréLandau Prof.MohammedM’Saad Départementd’Automatique CentredeRecherche(ENSICAEN) GIPSA-LAB(CNRS/INPG/UJF) LaboratoireGREYC POBox46 ÉcoleNationaleSupérieured’Ingénieurs 38402St.Martind’Heres deCaen France CampusCôtedeNacre [email protected] bd.MaréchalJuin6 14032CaenCedex Prof.RogelioLozano France UMR-CNRS6599 [email protected] CentredeRecherchedeRoyalieu HeuristiqueetDiagnosticdesSystèmes Prof.AlirezaKarimi Complexes Laboratoired’Automatique UniversitédeTechnologiedeCompiègne ÉcolePolytechniqueFédéraledeLausanne POBox20529 1015Laussanne 60205Compiègne Switzerland France alireza.karimi@epfl.ch [email protected] ISSN0178-5354 ISBN978-0-85729-663-4 e-ISBN978-0-85729-664-1 DOI10.1007/978-0-85729-664-1 SpringerLondonDordrechtHeidelbergNewYork BritishLibraryCataloguinginPublicationData AcataloguerecordforthisbookisavailablefromtheBritishLibrary LibraryofCongressControlNumber:2011930651 ©Springer-VerlagLondonLimited2011 Apartfromanyfairdealingforthepurposesofresearchorprivatestudy,orcriticismorreview,asper- mittedundertheCopyright,DesignsandPatentsAct1988,thispublicationmayonlybereproduced, storedortransmitted,inanyformorbyanymeans,withthepriorpermissioninwritingofthepublish- ers,orinthecaseofreprographicreproductioninaccordancewiththetermsoflicensesissuedbythe CopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethosetermsshouldbesentto thepublishers. Theuseofregisterednames,trademarks,etc.,inthispublicationdoesnotimply,evenintheabsenceofa specificstatement,thatsuchnamesareexemptfromtherelevantlawsandregulationsandthereforefree forgeneraluse. Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformation containedinthisbookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissions thatmaybemade. Coverdesign:VTeXUAB,Lithuania Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) To Lina,Leticia,Salima,Noushin Vlad,Jessica, Rogelio,AzadehandOmid Cequiestsimpleesttoujours faux Cequinel’estpas estinutilisable PaulValéry Mauvaises Pensées Preface Adaptivecontrolprovidestechniquesfortheautomaticadjustmentofcontrolparam- etersinrealtimeeithertoachieveortomaintainadesiredlevelofcontrolsystem performancewhenthe dynamicparameters of the process to be controlledare un- knownand/ortime-varying.Themaincharacteristicofthesetechniquesistheability toextractsignificantinformationfromrealdatainordertotunethecontrollerand theyfeatureamechanismforadjustingtheparametersofeithertheplantmodelor thecontroller.Thehistoryofadaptivecontrolislong,significantprogressinunder- standing and applying its ideas having begun in the early nineteen-seventies. The growingavailabilityofdigitalcomputershasalsocontributedtotheprogressionof the field. The early applications provided important feedback for the development of the field and theoretical innovations allowed a number of basic problems to be solved.Theaimofthisbookistoprovideacoherentandcomprehensivetreatment ofthefieldofadaptivecontrol.Thepresentationtakesthereaderfrombasicproblem formulationtoanalyticalsolutionsthepracticalsignificanceofwhichisillustrated byapplications.Aunifiedpresentationofadaptivecontrolisnotobvious.Onerea- son for this is that several design steps are involvedand this increases the number ofdegreesoffreedom.Anotheristhatmethodshavebeenproposedhavingdiffer- entapplicationsinmindbutwithoutaclearmotivationfortheintermediatedesign steps.Itisourbelief,however,thatacoherentpresentationofthebasictechniques ofadaptivecontrolisnowpossible.Wehaveadoptedadiscrete-timeformulationfor theproblemsandsolutionsdescribedtoreflecttheimportanceofdigitalcomputers in the application of adaptive control techniques and we share our understanding andpracticalexperienceofthesoundnessofvariouscontroldesignswiththereader. Throughoutthebook,themathematicalaspectsofthesynthesisandanalysisofvar- iousalgorithmsareemphasized;however,thisdoesnotmeanthattheyaresufficient inthemselvesforsolvingpracticalproblemsorthatadhocmodificationsofthealgo- rithmsforspecificapplicationsarenotpossible.Toguidereaders,thebookcontains various applications of control techniques but it is our belief that without a solid mathematicalunderstandingoftheadaptationtechniquesavailable,theywillnotbe abletoapplythemcreativelytonewanddifficultsituations.Thebookhasgrownout ofseveralsurveypapers,tutorialandcoursesdeliveredtovariousaudiences(grad- uatestudents,practicingengineers,etc.)invariouscountries,oftheresearchinthe vii viii Preface fielddonebytheauthors(mostlyatLaboratoired’AutomatiquedeGrenoble,now theControlDepartmentofGIPSA-LAB(InstitutNationalPolytechniquedeGreno- ble/CNRS),HEUDYASIC(UniversitéTechnologiquedeCompiègne/CNRS),CIN- VESTAV (Mexico), GREYC (Caen) and the Laboratoire d’Automatique of EPFL (Lausanne)), and of the long and rich practical experience of the authors. On the one hand, this new edition reflects new developments in the field both in terms of techniques and applications and, on the other, it puts a number of techniques into properperspectiveasaresultoffeedbackfromapplications. ExpectedAudience Thebookisintendedasatextbookforgraduatestudentsas well as a basic reference for practicing engineers facing the problem of designing adaptivecontrolsystems.Controlresearchersfromotherareaswillfindacompre- hensivepresentationof the field with bridges to various other control design tech- niques. AbouttheContent Itiswidelyacceptedthatstabilityanalysisinadeterministic environmentandconvergenceanalysisinastochasticenvironmentconstituteabasic groundingforanalysisanddesignofadaptivecontrolsystemsandsotheseformthe coreofthetheoreticalaspectsofthebook.Parametricadaptationalgorithms(PAAs) whicharepresentinalladaptivecontroltechniquesareconsideredingreaterdepth. Our practical experience has shown that in the past the basic linear controller designswhichmakeupthebackgroundforvariousadaptivecontrolstrategieshave oftennottakenrobustnessissuesintoaccount.Itisbothpossibleandnecessaryto accommodatetheseissuesbyimprovingtherobustnessofthelinearcontroldesigns priortocouplingthemwithoneoftheadaptationalgorithmssothebookcoversthis. Inthecontextofadaptivecontrol,robustnessalsoconcernstheparameteradap- tationalgorithmsandthisissueisaddressedindetail.Furthermore,multiple-model adaptive control with switching is an illustration of the combination of robust and adaptive control and is covered in depth in the new edition. In recent years, plant model identification in closed-loop operation has become more and more popular asawayofimprovingtheperformanceofanexistingcontroller.Themethodsthat havearisenasaresultaredirectlyrelevanttoadaptivecontrolandwillalsobethor- oughlytreated.Adaptiveregulationandadaptivefeedforwarddisturbancecompen- sationhaveemergedasnewadaptivecontrolproblemswithimmediateapplication inactivevibrationcontrolandactivenoisecontrol.Theseaspectsarenowcovered inthissecondedition. Thebookisorganizedasfollows: • Chapter1providesanintroductiontoadaptivecontrolandatutorialpresentation ofthevarioustechniquesinvolved. • Chapter2presentsabriefreviewofdiscrete-timelinearmodelsforcontrolwith emphasisonoptimalpredictorswhichareoftenusedthroughoutthebook. • Chapter3isathoroughcoverageofparameteradaptationalgorithms(PAA)oper- atinginadeterministicenvironment.Variousapproachesarepresentedandthen thestabilitypointofviewforanalysisanddesignisdiscussedindetail. Preface ix • Chapter 4 is devoted to the analysis of parameter adaptation algorithms in a stochasticenvironment. • Chapter 5 discusses recursive plant model identification in open loop which is an immediate application of PAAs on the one hand and an unavoidable step in startinganadaptivecontrollerontheother. • Chapter6isdevotedtothesynthesisofadaptivepredictors. • Chapter7coversdigitalcontrolstrategieswhichareusedinadaptivecontrol.One stepaheadpredictivecontrolandlong-rangepredictivecontrolarepresentedina unifiedmanner. • Chapter8discussestherobustdigitalcontroldesignproblemandprovidestech- niquesforachievingrequiredrobustnessbyshapingthesensitivityfunctions. • Digitalcontroltechniquescanbecombinedwiththerecursiveplantmodeliden- tificationinclosedlooptoobtainanadaptivecontroller.Theserecursiveidentifi- cationtechniquesarediscussedinChap.9. • The issue of robustification of parameter adaptation algorithm in the context of adaptivecontrolisaddressedinChap.10. • For special types of plant model structures and control strategies, appropriate parametrizationoftheplantmodelallowsdirectadjustmentoftheparametersof thecontrollersyieldingsocalleddirectadaptivecontrolschemes.Directadaptive controlisthesubjectofChap.11. • Indirectadaptivecontrolwhichcombinesinreal-timeplantmodelparameteresti- mationinclosedloopwiththeredesignofthecontrollerisdiscussedinChap.12. • Multimodeladaptivecontrolwithswitching,whichcombinesrobustcontroland adaptivecontrol,isdiscussedinChap.13(newinthesecondedition). • Rejectionofunknowndisturbancesistheobjectiveofadaptiveregulationwhich isthesubjectofChap.14(newinthesecondedition). • Adaptive feedforward compensation of disturbances is discussed in Chap. 15 (newinthesecondedition). • Chapter 16 is devoted to the practical aspects of implementing adaptive con- trollers. Chapters5,9,12,13,14and15includeapplicationsusingthetechniquespresented inthesechapters.Anumberofappendiceswhichsummarizeimportantbackground topicsareincluded. Problemsandsimulationexercisesareincludedinmostofthechapters. Pathways Through the Book The book was written with the objective of pre- sentingcomprehensivecoverageofthefieldofadaptivecontrolandofmakingthe subjectaccessibletoalargeaudiencewithdifferentbackgroundsandinterests.Thus thebookcanbereadandusedindifferentways. For those only interested in applications we recommend the following se- quence: Chaps.: 1, 2, 3 (Sects. 3.1 and 3.2), 5 (Sects. 5.1, 5.2, 5.7 through 5.9), 7 (Sects. 7.1, 7.2, 7.3.1 and 7.3.2), 8 (Sects. 8.1, 8.2 and 8.3.1), 9 (Sects. 9.1 and 9.6), 10 (Sect. 10.1), 11 (Sects. 11.1 and 11.2), 12 (Sects. 12.1 and 12.2.1), 13(Sects.13.1,13.2and13.4),14(Sects.14.1,14.2,14.4and14.7),15(Sects.15.1, 15.2 and 15.5) and Chap.16. Most of the content of Chaps. 14 and 15 can also be
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