ISSN:0890-6327    

DOI:10.1002/acs.4480060302

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractThe method of recursive aim inequalities has been used in the theory of adaptive control since the late 1960s by a group of Leningrad mathematicians. The problem is reduced to an infinite system of recursive inequalities on the vectors of unknown parameters. These inequalities can be solved by using specially developed, finitely convergent algorithms. The method is illustrated by the solution of adaptive control problems for linear discrete systems under different assumptions on the plant and disturbances.

ISSN:0890-6327    

DOI:10.1002/acs.4480060303

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractModel quality and model accuracy are of prime interest in system identification. In this contribution we will review and discuss these concepts. In particular we will split model errors into contributions from a ‘random error’ and a ‘bias error’ and describe and discuss how to assess these two c

ISSN:0890-6327    

DOI:10.1002/acs.4480060304

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractTwo alternative approaches to the solution of control problems under conditions of uncertainty are considered: (i) synthesis of adaptive systems; (ii) synthesis of robust systems.Non‐stochastic (set) models of uncertainty are used. An estimate of the quality of the plant parameter identification is given by evaluating the diameter of the set to which the parameter vector belongs. The obtained non‐improvable set estimates of the parameters (in the form of ellipsoids or convex polyhedra) are the boundary determining the expediency of the change‐over to the construction of robust control systems.The remaining part of the paper is devoted to the solution of the problem of synthesis of discrete robust control systems. The necessary and sufficient conditions of robust stability proposed by the author are used and are efficiently tested by means of a special software package ‘Robust stability’ for IBM‐type persona

ISSN:0890-6327    

DOI:10.1002/acs.4480060305

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractThe paper contains a brief review of some new results for the classical parametric ‘sensitivity‐robustness’ problem. Some stability robustness criteria are shown and an optimal robust feedback design is presented. The main attention is paid to the performance index robustness. Sensitivity coefficients and their majorants are found forH2‐ andH∞‐norms of transfer functions. Analytical properties ofH2‐ andH∞‐optimal feedback systems are investigated. In conclusion, robustification and adaptation as two competitive approaches to feedback design under parametric uncertai

ISSN:0890-6327    

DOI:10.1002/acs.4480060306

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractThe evolution of adaptive control systems is considered from the viewpoint of the use of informatics and artificial intelligence (AI) tools. Some general principles of intellectronics (AI tools) are discussed taking into consideration adaptive control systems with non‐linear dynamics operating under conditions of uncertainty. The principles are illustrated by an analytical review of adaptive‐intelligent robot control and logical‐probabilistic decision rules as applied to expert systems of adaptive control. Example of the use of intellectronics in adaptive systems are

ISSN:0890-6327    

DOI:10.1002/acs.4480060307

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractExpert system (ES) theory problems have been traditionally considered without any essential connection with common control problems. However, nowadays, because of progress in ES theory development in practice and because of its wide use for solving complex control problems, new items in this field of research are being stressed, many of which are connected with traditional automation control.The combined study of adaptation and ES problems makes it possible to draw significant practical conclusions for systems of both types. In this work an analysis of general problems and of possible approaches to solving them in some special types of ESs based on Bayes inference is carried out. The main attention is focused on such ES characteristics as: (i) inference stability (with respect to variations in probabilistic approximation measures of rule truth); (ii) knowledge base adaptation (rule modification and new rule creation or approximation measure rule tranformation); (iii) knowledge base consistency maintenance.

ISSN:0890-6327    

DOI:10.1002/acs.4480060308

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractA number of recent and some new adaptive control algorithms for robot manipulators are considered from the viewpoint of the speed gradient method. Various types of algorithms are considered in a unified framework that allows useful comparisons to be made.

ISSN:0890-6327    

DOI:10.1002/acs.4480060309

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractMinimum variance adaptive control schemes are considered. By means of the concept of excitation subspace, the notion of effective identification algorithm is introduced. It is shown that, if the system to be controlled is noise‐free and minimum phase, the tracking error tends to zero provided that the identification is effective. Finally, the effectiveness of the most popular recursive identification techniques (recursive least squares, stochastic gradient, projection algorithm) is discusse

ISSN:0890-6327    

DOI:10.1002/acs.4480060310

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractIn this paper we pursue a twofold aim. First we want to simplify the complexity of the classical Monopoli's scheme, the so‐called ‘Augmented error signal control scheme’. Then we also wish to cope with the realistic situation in which the presence of unmodelled dynamics has to be taken into account. This latter problem has been faced in the literature by suitably modifying the adaptation mechanism in order to avoid undesired phenomena as well as to obtain an attractive stability region for the state trajectories starting from any point in a predefined initial condition set. In our case the necessity of introducing any sort of modification in the adaptation mechanism is completely avoided, but we still obtain asymptotic stability of the output error s

ISSN:0890-6327    

DOI:10.1002/acs.4480060311

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY