Beschreibung
Inhaltsangabe1. 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.
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