Verfügbarkeit: Robust autonomous guidance | Technische Universität München

Robust autonomous guidance: an internal model approach

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Bibliographische Detailangaben
Beteilige Person:	Isidori, Alberto 1942- (VerfasserIn)
Format:	Buch
Sprache:	Englisch
Veröffentlicht:	London Springer 2003
Schriftenreihe:	Advances in industrial control
Schlagwörter:	Adaptive control systems Process control Robustheit Adaptivregelung Stabilität Kontrolltheorie Nichtlineare Regelung Lineare Regelung
Links:	http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010321661&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
Beschreibung:	Includes bibliographical references and index.
Umfang:	XVI, 229 S. graph. Darst.
ISBN:	1852336951

Internformat

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Datensatz im Suchindex

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adam_text	ALBERTO ISIDORI, LORENZO MARCONI AND ANDREA SERRANI ROBUST AUTONOMOUS GUIDANCE AN INTERNAL MODEL APPROACH WITH 53 FIGURES SPRINGER TABLE OF CONTENTS 1. FUNDAMENTALS OF INTERNAL-MODEL-BASED CONTROL THEORY ... 1 1.1 INTRODUCTION 1 1.2 ASYMPTOTIC TRACKING AND DISTURBANCE ATTENUATION 2 1.3 THE CASE OF LINEAR SYSTEMS 5 1.4 THE ISSUE OF ROBUSTNESS 14 1.5 DESIGN METHODS FOR LINEAR SYSTEMS 21 1.6 INTERNAL MODEL ADAPTATION 35 1.7 THE CASE OF NONLINEAR SYSTEMS 40 1.8 DESIGN METHODS FOR NONLINEAR SYSTEMS 44 2. ATTITUDE REGULATION OF A LEO RIGID SATELLITE 59 2.1 INTRODUCTION 59 2.2 THE SPACECRAFT ATTITUDE CONTROL PROBLEM 60 2.3 SATELLITE ATTITUDE DYNAMICS 63 2.4 ATTITUDE ERROR DYNAMICS 66 2.5 THE INTERNAL MODEL 68 2.6 DESIGN OF THE STABILIZER 74 2.7 ILLUSTRATIVE EXAMPLE 79 3. VTOL LANDING: DESIGN OF THE INTERNAL MODEL 85 3.1 INTRODUCTION 85 3.2 THE VTOL MODEL AND THE TRACKING PROBLEM 86 3.3 DESIGN OF THE INTERNAL MODEL 91 3.4 ADAPTATION OF THE INTERNAL MODEL 102 3.5 PROOF OF PROPOSITION 3.4.2 107 4. VTOL LANDING: DESIGN OF THE STABILIZER ILL 4.1 INTRODUCTION ILL 4.2 STABILIZATION OF THE LATERAL-ANGULAR DYNAMICS 112 4.3 PROOF OF PROPOSITION 4.2.2 121 4.4 STABILITY OF THE INTERCONNECTION: THE NON-ADAPTIVE CASE 128 4.5 SUMMARY OF THE NON-ADAPTIVE CONTROL STRUCTURE AND SIMU- LATION RESULTS 131 4.6 STABILITY OF THE INTERCONNECTION: THE ADAPTIVE CASE 139 XVI TABLE OF CONTENTS 4.7 SUMMARY OF THE ADAPTIVE CONTROL STRUCTURE AND SIMULATION RESULTS 144 5. ROBUST NONLINEAR MOTION CONTROL OF A HELICOPTER 149 5.1 INTRODUCTION 149 5.2 HELICOPTER MODEL 150 5.3 PROBLEM STATEMENT 154 5.4 STABILIZATION OF THE VERTICAL ERROR DYNAMICS 157 5.5 ANALYSIS OF THE LATERAL AND LONGITUDINAL DYNAMICS 161 5.6 STRUCTURE OF THE STABILIZER 163 5.7 STABILIZATION OF THE ATTITUDE-LATERAL-LONGITUDINAL DYNAMICS .. 165 5.8 SUMMARY OF THE CONTROL STRUCTURE AND SIMULATION RESULTS ... 179 5.9 PROOF OF PROPOSITION 5.7.1 186 5.10 PROOF OF LEMMA 5.7.3 190 A. ATTITUDE PARAMETERIZATION 193 A.I ROTATION MATRICES 193 A.2 QUATERNIONS 196 B. INPUT-TO-STATE STABILITY AND SMALL GAIN THEOREMS 203 B.I COMPARISON FUNCTIONS . .. 203 B.2 INPUT-TO-STATE STABILITY: DEFINITIONS AND CRITERIA 204 B.3 THE SMALL GAIN THEOREM 207 C. STABILIZATION OF AN UNCERTAIN CHAIN OF INTEGRATORS BY SATU- RATED FEEDBACK 213 C.I SATURATION FUNCTIONS 213 C.2 ROBUST STABILIZATION OF A CHAIN OF INTEGRATORS BY SATURATED FEEDBACK 213 REFERENCES 223 INDEX 227
any_adam_object	1
author	Isidori, Alberto 1942-
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illustrated	Illustrated
indexdate	2024-12-20T11:15:02Z
institution	BVB
isbn	1852336951
language	English
oai_aleph_id	oai:aleph.bib-bvb.de:BVB01-010321661
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physical	XVI, 229 S. graph. Darst.
publishDate	2003
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publisher	Springer
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series2	Advances in industrial control
spellingShingle	Isidori, Alberto 1942- Robust autonomous guidance an internal model approach Adaptive control systems Process control Robustheit (DE-588)4126481-2 gnd Adaptivregelung (DE-588)4000457-0 gnd Stabilität (DE-588)4056693-6 gnd Kontrolltheorie (DE-588)4032317-1 gnd Nichtlineare Regelung (DE-588)4132964-8 gnd Lineare Regelung (DE-588)4035819-7 gnd
subject_GND	(DE-588)4126481-2 (DE-588)4000457-0 (DE-588)4056693-6 (DE-588)4032317-1 (DE-588)4132964-8 (DE-588)4035819-7
title	Robust autonomous guidance an internal model approach
title_auth	Robust autonomous guidance an internal model approach
title_exact_search	Robust autonomous guidance an internal model approach
title_full	Robust autonomous guidance an internal model approach Alberto Isidori, Lorenzo Marconi and Andrea Serrani
title_fullStr	Robust autonomous guidance an internal model approach Alberto Isidori, Lorenzo Marconi and Andrea Serrani
title_full_unstemmed	Robust autonomous guidance an internal model approach Alberto Isidori, Lorenzo Marconi and Andrea Serrani
title_short	Robust autonomous guidance
title_sort	robust autonomous guidance an internal model approach
title_sub	an internal model approach
topic	Adaptive control systems Process control Robustheit (DE-588)4126481-2 gnd Adaptivregelung (DE-588)4000457-0 gnd Stabilität (DE-588)4056693-6 gnd Kontrolltheorie (DE-588)4032317-1 gnd Nichtlineare Regelung (DE-588)4132964-8 gnd Lineare Regelung (DE-588)4035819-7 gnd
topic_facet	Adaptive control systems Process control Robustheit Adaptivregelung Stabilität Kontrolltheorie Nichtlineare Regelung Lineare Regelung
url	http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010321661&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
work_keys_str_mv	AT isidorialberto robustautonomousguidanceaninternalmodelapproach AT marconilorenzo robustautonomousguidanceaninternalmodelapproach AT serraniandrea robustautonomousguidanceaninternalmodelapproach

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