Optimal Adaptive Control Systems

The book reviews developments in the following fields: optimal adaptive control; online differential games; reinforcement learning principles; and dynamic feedback control systems.

In this book, we study theoretical and practical aspects of computing methods for mathematical modelling of nonlinear systems. A number of computing techniques are considered, such as methods of operator approximation with any given accuracy; operator interpolation techniques including a non-Lagrange interpolation; methods of system representation subject to constraints associated with concepts of causality, memory and stationarity; methods of system representation with an accuracy that is the best within a given class of models; methods of covariance matrix estimation; methods for low-rank matrix approximations; hybrid methods based on a combination of iterative procedures and best operator approximation; and methods for information compression and filtering under condition that a filter model should satisfy restrictions associated with causality and different types of memory. As a result, the book represents a blend of new methods in general computational analysis, and specific, but also generic, techniques for study of systems theory ant its particular branches, such as optimal filtering and information compression. - Best operator approximation, - Non-Lagrange interpolation, - Generic Karhunen-Loeve transform - Generalised low-rank matrix approximation - Optimal data compression - Optimal nonlinear filtering

Evaluating statistical procedures through decision and game theory, as first proposed by Neyman and Pearson and extended by Wald, is the goal of this problem-oriented text in mathematical statistics. First-year graduate students in statistics and other students with a background in statistical theory and advanced calculus will find a rigorous, thorough presentation of statistical decision theory treated as a special case of game theory. The work of Borel, von Neumann, and Morgenstern in game theory, of prime importance to decision theory, is covered in its relevant aspects: reduction of games to normal forms, the minimax theorem, and the utility theorem. With this introduction, Blackwell and Professor Girshick look at: Values and Optimal Strategies in Games; General Structure of Statistical Games; Utility and Principles of Choice; Classes of Optimal Strategies; Fixed Sample-Size Games with Finite Ω and with Finite A; Sufficient Statistics and the Invariance Principle; Sequential Games; Bayes and Minimax Sequential Procedures; Estimation; and Comparison of Experiments. A few topics not directly applicable to statistics, such as perfect information theory, are also discussed. Prerequisites for full understanding of the procedures in this book include knowledge of elementary analysis, and some familiarity with matrices, determinants, and linear dependence. For purposes of formal development, only discrete distributions are used, though continuous distributions are employed as illustrations. The number and variety of problems presented will be welcomed by all students, computer experts, and others using statistics and game theory. This comprehensive and sophisticated introduction remains one of the strongest and most useful approaches to a field which today touches areas as diverse as gambling and particle physics.

List of contributors; Preface; Adaptive internal model control; An algorithm for robust adaptive control with less prior knowledge; Adaptive variable structure control; Indirect adaptive periodic control; Adaptive stabilization of uncertain discrete-time systems via switching control: the method of localization; Adaptive nonlinear control: passivation and small gain techniques; Active identification for control of discrete-time uncertain nonlinear systems; Optimal adaptive tracking for nonlinear systems; Stable adaptive systems in the presence of nonlinear parametrization; Adaptive inverse for actuator compensation; Stable multi-input multi-output adaptive fuzzy/neural control; Adaptive robust control scheme with an application to PM synchronous motors; Index.

Exploring connections between adaptive control theory and practice, this book treats the techniques of linear quadratic optimal control and estimation (Kalman filtering), recursive identification, linear systems theory and robust arguments.

Robust and Adaptive Control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Driven by aerospace applications the focus of the book is primarily on continuous-dynamical systems. The text is a three-part treatment, beginning with robust and optimal linear control methods and moving on to a self-contained presentation of the design and analysis of model reference adaptive control (MRAC) for nonlinear uncertain dynamical systems. Recent extensions and modifications to MRAC design are included, as are guidelines for combining robust optimal and MRAC controllers. Features of the text include: · case studies that demonstrate the benefits of robust and adaptive control for piloted, autonomous and experimental aerial platforms; · detailed background material for each chapter to motivate theoretical developments; · realistic examples and simulation data illustrating key features of the methods described; and · problem solutions for instructors and MATLAB® code provided electronically. The theoretical content and practical applications reported address real-life aerospace problems, being based on numerous transitions of control-theoretic results into operational systems and airborne vehicles that are drawn from the authors’ extensive professional experience with The Boeing Company. The systems covered are challenging, often open-loop unstable, with uncertainties in their dynamics, and thus requiring both persistently reliable control and the ability to track commands either from a pilot or a guidance computer. Readers are assumed to have a basic understanding of root locus, Bode diagrams, and Nyquist plots, as well as linear algebra, ordinary differential equations, and the use of state-space methods in analysis and modeling of dynamical systems. Robust and Adaptive Control is intended to methodically teach senior undergraduate and graduate students how to construct stable and predictable control algorithms for realistic industrial applications. Practicing engineers and academic researchers will also find the book of great instructional value.

The book deals with intelligent control of mobile robots, presenting the state-of-the-art in the field, and introducing new control algorithms developed and tested by the authors. It also discusses the use of artificial intelligent methods like neural networks and neuraldynamic programming, including globalised dual-heuristic dynamic programming, for controlling wheeled robots and robotic manipulators,and compares them to classical control methods.

Suitable for advanced undergraduates and graduate students, this overview introduces theoretical and practical aspects of adaptive control, with emphasis on deterministic and stochastic viewpoints. 1995 edition.

Using a common unifying framework, this volume explores the main topics of Linear Quadratic control, predictive control, and adaptive predictive control -- in terms of theoretical foundations, analysis and design methodologies, and application-orient ed tools.Presents LQ and LQG control via two alternative approaches: the Dynamic Programming (DP) and the Polynomial Equation (PE) approach. Discusses predicable control, an important tool in industrial applications, within the framework of LQ control, and presents innovative predictive control schemes having guaranteed stability properties. Offers a unique, thorough presentation of indirect adaptive multi-step predictive controllers, with detailed proofs of globally convergent schemes for both the ideal and the bounded disturbance case. Extends the self-tuning property of one-step-ahead control to multi-step control.For engineers and mathematicians interested in the theory, analysis and design methodologies, and application-oriented tools of optimal, predictive and adaptive control.