Adaptive identification and control of uncertain systems with non-smooth dynamics (Q1712281)

This book is meant to provide introduction of four different guidance for the control implementation of systems with nonsmooth behaviors (backlash, dead zone, friction, saturation, etc) and unknown nonlinearities. The major objective is to introduce new models of nonsmooth behaviors, which are more suitable for control design and synthesis. And in addition, to design, analyze and implement adaptive control, which are able to accommodate nonsmooth behaviors and other unknown dynamics (e.g., modeling uncertainties and disturbance). To accomplish these scopes, ideas from the adaptive parameter estimation, adaptive control, and neural networks are taken into consideration. Because of different characteristics of nonsmooth nonlinearities, each of them is considered individually in various controller designs. Each control design is discussed in detail and provided gradually, with most chapters building on their predecessors. It is shown in each chapter how the nonsmooth dynamics can be modeled and adaptively compensated, and how the desired control system response is achieved. The designed controller using adaptive technique and function approximation allows to guarantee the system stability and to address the transient performance of the tracking error. The book presents recent research results for the modeling and control designs of uncertain systems with nonsmooth dynamics with particular applications in servo systems. It is organized into 19 chapters, divided in five parts concerning the four types of nonsmooth characteristics (friction, dead-zone, saturation and hysteresis), respectively. Practical experiments are also included to validate and exemplify the proposed approaches. This book is interesting for both researchers and practitioners which can learn and understand nonlinear adaptive control designs. It is also useful for academics, engineers and graduate students in the fields of electrical engineering, control systems, mechanical engineering, applied mathematics and computer science. It may be used as a reference book on adaptive control for servo systems for students with some background in control engineering.