Adaptive-Robust Control with Limited Knowledge on Systems Dynamics: An Artificial Input Delay Approach and Beyond by Spandan Roy
English | PDF | 2020 | 144 Pages | ISBN : 9811506396 | 4.1 MB
The book investigates the role of artificial input delay in approximating unknown system dynamics, referred to as time-delayed control (TDC), and provides novel solutions to current design issues in TDC. Its central focus is on designing adaptive-switching gain-based robust control (ARC) for a class of Euler-Lagrange (EL) systems with minimal or no knowledge of the system dynamics parameters. The newly proposed TDC-based ARC tackles the commonly observed over- and under-estimation issues in switching gain. The consideration of EL systems lends a practical perspective on the proposed methods, and each chapter is supplemented by relevant experimental data.