Robust Autonomous Guidance

An Internal Model Approach
Softcover Nachdruck of the original 1. Auflage 2003
ISBN: 978-1-4471-1124-5
Verlag: Springer

Buch, Englisch, 229 Seiten, Format (B × H): 155 mm x 235 mm, Gewicht: 382 g

Reihe: Advances in Industrial Control

Plant control systems are subject to the undesirable influence of exogenous commands and disturbances. To track and reject these the authors have designed a feedback control system based on embedding a model of them within the controller itself - the "internal model".

From a review of the principles of internal-model-based feedback control design, this book moves on to expound recent enhancements to such designs and then to their implementation in systems operating under conditions of great uncertainty.

The case studies presented involve control systems coping with a high degree of nonlinear behaviour. The key issues addressed in each are the design of an adaptive internal model for the specific tracking task and of stabilizing control capable of steering the tracking error to zero while keeping all internal states bounded for any arbitrarily large but bounded envelope of initial data and uncertain parameters. Nested saturated controls form the basis of novel tools for asymptotic analysis and design.

Zielgruppe

Research

Autoren/Hrsg.

Isidori, Alberto

Serrani, Andrea

Marconi, Lorenzo

Fachgebiete

• Technische Wissenschaften Verkehrstechnik | Transportgewerbe Luft- und Raumfahrttechnik, Luftverkehr
• Technische Wissenschaften Sonstige Technologien | Angewandte Technik Astronautik
• Interdisziplinäres Wissenschaften Wissenschaften: Forschung und Information Kybernetik, Systemtheorie, Komplexe Systeme
• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik

Inhaltsverzeichnis

1. Fundamentals of Internal-model-based Control Theory.- 2. Attitude Regulation of a LEO Rigid Satellite.- 3. VTOL Landing: Design of the Internal Model.- 4. VTOL Landing: Design of the Stabilizer.- 5. Robust Nonlinear Motion Control of a Helicopter.- A. Attitude Parameterization.- A.1 Rotation Matrices.- A.2 Quaternions.- B. Input-to-state Stability and Small Gain Theorems.- B.1 Comparison Functions.- B.2 Input-to-state Stability: Definitions and Criteria.- B.3 The Small Gain Theorem.- C. Stabilization of an Uncertain Chain of Integrators by Satu rated Feedback.- C.1 Saturation Functions.- C.2 Robust Stabilization of a Chain of Integrators by Saturated Feedback.- References.