Robust Autonomous Guidance

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Oktober 2003



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.


1. Fundamentals of Internal-model-based Control Theory.- 1.1 Introduction.- 1.2 Asymptotic Tracking and Disturbance Attenuation.- 1.3 The Case of Linear Systems.- 1.4 The Issue of Robustness.- 1.5 Design Methods for Linear Systems.- 1.6 Internal Model Adaptation.- 1.7 The Case of Nonlinear Systems.- 1.8 Design Methods for Nonlinear Systems.- 2. Attitude Regulation of a LEO Rigid Satellite.- 2.1 Introduction.- 2.2 The Spacecraft Attitude Control Problem.- 2.3 Satellite Attitude Dynamics.- 2.4 Attitude Error Dynamics.- 2.5 The Internal Model.- 2.6 Design of the Stabilizer.- 2.7 Illustrative Example.- 3. VTOL Landing: Design of the Internal Model.- 3.1 Introduction.- 3.2 The VTOL Model and the Tracking Problem.- 3.3 Design of the Internal Model.- 3.4 Adaptation of the Internal Model.- 3.5 Proof of Proposition 3.4.2.- 4. VTOL Landing: Design of the Stabilizer.- 4.1 Introduction.- 4.2 Stabilization of the Lateral¡ªangular Dynamics.- 4.3 Proof of Proposition 4.2.2.- 4.4 Stability of the Interconnection: the Non-adaptive Case.- 4.5 Summary of the Non-adaptive Control Structure and Simu lation Results.- 4.6 Stability of the Interconnection: the Adaptive Case.- 4.7 Summary of the Adaptive Control Structure and Simulation Results.- 5. Robust Nonlinear Motion Control of a Helicopter.- 5.1 Introduction.- 5.2 Helicopter Model.- 5.3 Problem Statement.- 5.4 Stabilization of the Vertical Error Dynamics.- 5.5 Analysis of the Lateral and Longitudinal Dynamics.- 5.6 Structure of the Stabilizer.- 5.7 Stabilization of the Attitude-lateral-longitudinal Dynamics ..- 5.8 Summary of the Control Structure and Simulation Results.- 5.9 Proof of Proposition 5.7.1.- 5.10 Proof of Lemma 5.7.3.- 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.


The book is well organized and well written. Each chapter starts with an introductory section and each case study concludes with simulation results. The book is an excellent combination of theory and real-world applications. Each application not only demonstrates the power of the theoretical results but also is important on its own behalf.
This book is a valuable addition to references for academic researchers and industrial engineers working in the field of nonlinear control systems design, in particular, for aerospace guidance systems. The book can also serve as a useful reference for graduate courses in nonlinear control systems.

IEEE Control Systems Magazine (October 2004) (Reviewer: Qian Wang)
EAN: 9781852336950
ISBN: 1852336951
Untertitel: An Internal Model Approach. 2003. Auflage. Book. Sprache: Englisch.
Verlag: Springer
Erscheinungsdatum: Oktober 2003
Seitenanzahl: 248 Seiten
Format: gebunden
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