PDE Control of String-Actuated Motion
1st Edition
Published on 11. August 2022
512 pages
978-0-691-23350-5 (ISBN)
Description
New adaptive and event-triggered control designs with concrete applications in undersea construction, offshore drilling, and cable elevators
Control applications in undersea construction, cable elevators, and offshore drilling present major methodological challenges because they involve PDE systems (cables and drillstrings) of time-varying length, coupled with ODE systems (the attached loads or tools) that usually have unknown parameters and unmeasured states. In PDE Control of String-Actuated Motion, Ji Wang and Miroslav Krstic develop control algorithms for these complex PDE-ODE systems evolving on time-varying domains.
Motivated by physical systems, the book's algorithms are designed to operate, with rigorous mathematical guarantees, in the presence of real-world challenges, such as unknown parameters, unmeasured distributed states, environmental disturbances, delays, and event-triggered implementations. The book leverages the power of the PDE backstepping approach and expands its scope in many directions.
Filled with theoretical innovations and comprehensive in its coverage, PDE Control of String-Actuated Motion provides new design tools and mathematical techniques with far-reaching potential in adaptive control, delay systems, and event-triggered control.
Control applications in undersea construction, cable elevators, and offshore drilling present major methodological challenges because they involve PDE systems (cables and drillstrings) of time-varying length, coupled with ODE systems (the attached loads or tools) that usually have unknown parameters and unmeasured states. In PDE Control of String-Actuated Motion, Ji Wang and Miroslav Krstic develop control algorithms for these complex PDE-ODE systems evolving on time-varying domains.
Motivated by physical systems, the book's algorithms are designed to operate, with rigorous mathematical guarantees, in the presence of real-world challenges, such as unknown parameters, unmeasured distributed states, environmental disturbances, delays, and event-triggered implementations. The book leverages the power of the PDE backstepping approach and expands its scope in many directions.
Filled with theoretical innovations and comprehensive in its coverage, PDE Control of String-Actuated Motion provides new design tools and mathematical techniques with far-reaching potential in adaptive control, delay systems, and event-triggered control.
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Ji Wang | Miroslav Krstic
PDE Control of String-Actuated Motion
Book
10/2022
Princeton University Press
€177.50
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Ji Wang | Miroslav Krstic
PDE Control of String-Actuated Motion
Book
10/2022
Princeton University Press
€75.00
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Persons
Ji Wang is associate professor in the Department of Automation at Xiamen University, China, and a former postdoctoral scholar at the University of California, San Diego. Miroslav Krstic is Distinguished Professor at the University of California, San Diego, where he also serves as senior associate vice chancellor for research. He is a recipient of the Bellman, Reid, and Oldenburger awards, and is the coauthor of many books, including Delay-Adaptive Linear Control and Adaptive Control of Parabolic PDEs (both Princeton).
Content
- Cover
- Contents
- 1. Introduction
- 1.1 String-Actuated Mechanisms
- 1.2 Hyperbolic PDE-ODE Systems
- 1.3 "Sandwich" PDEs
- 1.4 Advanced Boundary Control of Hyperbolic PDEs
- 1.5 Notes
- I. Applications
- 2. Single-Cable Mining Elevators
- 2.1 Modeling
- 2.2 State-Feedback for Vibration Suppression
- 2.3 Observer and Output-Feedback Controller Using Cage Sensing
- 2.4 Stability Analysis
- 2.5 Simulation Test in a Single-Cable Mining Elevator
- 2.6 Appendix
- 2.7 Notes
- 3. Dual-Cable Elevators
- 3.1 Dual-Cable Mining Elevator Dynamics and Reformulation
- 3.2 Observer for Cable Tension
- 3.3 Controller for Cable Tension Oscillation Suppression and Cage Balance
- 3.4 Stability Analysis
- 3.5 Simulation Test for a Dual-Cable Mining Elevator
- 3.6 Appendix
- 3.7 Notes
- 4. Elevators with Disturbances
- 4.1 Problem Formulation
- 4.2 Disturbance Estimator
- 4.3 Observer of Cable-and-Cage State
- 4.4 Control Design for Rejection of Disturbances at the Cage
- 4.5 Simulation for a Disturbed Elevator
- 4.6 Appendix
- 4.7 Notes
- 5. Elevators with Flexible Guides
- 5.1 Description of Flexible Guides and Generalized Model
- 5.2 Observer for Distributed States of the Cable
- 5.3 Adaptive Disturbance Cancellation and Stabilization
- 5.4 Adaptive Update Laws
- 5.5 Control Law and Stability Analysis
- 5.6 Simulation for a Flexible-Guide Elevator
- 5.7 Appendix
- 5.8 Notes
- 6. Deep-Sea Construction
- 6.1 Modeling Process and Linearization
- 6.2 Basic Control Design Using Full States
- 6.3 Observer for Two-Dimensional Oscillations of the Cable
- 6.4 Controller with Collocated Boundary Sensing
- 6.5 Simulation for a Deep-Sea Construction System
- 6.6 Appendix
- 6.7 Notes
- 7. Deep-Sea Construction with Event-Triggered Delay Compensation
- 7.1 Problem Formulation
- 7.2 Observer Design Using Delayed Measurement
- 7.3 Delay-Compensated Output-Feedback Controller
- 7.4 Event-Triggering Mechanism
- 7.5 Stability Analysis
- 7.6 Simulation for Deep-Sea Construction with Sensor Delay
- 7.7 Appendix
- 7.8 Notes
- 8. Offshore Rotary Oil Drilling
- 8.1 Description of Oil-Drilling Models
- 8.2 Adaptive Update Laws for Unknown Coefficients
- 8.3 Output-Feedback Control Design
- 8.4 Stability Analysis
- 8.5 Simulation for OffShore Oil Drilling
- 8.6 Notes
- II. Generalizations
- 9. Basic Control of Sandwich Hyperbolic PDEs
- 9.1 Problem Formulation
- 9.2 Backstepping for the PDE-ODE Cascade
- 9.3 Backstepping for the Input ODE
- 9.4 Controller and Stability Analysis
- 9.5 Boundedness and Exponential Convergence of the Controller
- 9.6 Extension to ODEs of Arbitrary Order
- 9.7 Simulation
- 9.8 Appendix
- 9.9 Notes
- 10. Delay-Compensated Control of Sandwich Hyperbolic Systems
- 10.1 Problem Formulation
- 10.2 Observer Design
- 10.3 Output-Feedback Control Design
- 10.4 Stability Analysis of the Closed-Loop System
- 10.5 Application in Deep-Sea Construction
- 10.6 Appendix
- 10.7 Notes
- 11. Event-Triggered Control of Sandwich Hyperbolic PDEs
- 11.1 Problem Formulation
- 11.2 Observer
- 11.3 Continuous-in-Time Control Law
- 11.4 Event-Triggering Mechanism
- 11.5 Stability Analysis of the Event-Based Closed-Loop System
- 11.6 Application in the Mining Cable Elevator
- 11.7 Appendix
- 11.8 Notes
- 12. Sandwich Hyperbolic PDEs with Nonlinearities
- 12.1 Problem Formulation
- 12.2 State-Feedback Control Design
- 12.3 Observer Design and Stability Analysis
- 12.4 Stability of the Output-Feedback Closed-Loop System
- 12.5 Simulation
- 12.6 Appendix
- 12.7 Notes
- III. Adaptive Control of Hyperbolic PDE-ODE Systems
- 13. Adaptive Event-Triggered Control of Hyperbolic PDEs
- 13.1 Problem Formulation
- 13.2 Observer
- 13.3 Adaptive Continuous-in-Time Control Design
- 13.4 Event-Triggering Mechanism
- 13.5 Stability Analysis of the Closed-Loop System
- 13.6 Application in the Flexible-Guide Mining Cable Elevator
- 13.7 Appendix
- 13.8 Notes
- 14. Adaptive Control with Regulation-Triggered Parameter Estimation of Hyperbolic PDEs
- 14.1 Problem Formulation
- 14.2 Nominal Control Design
- 14.3 Regulation-Triggered Adaptive Control
- 14.4 Main Result
- 14.5 Simulation
- 14.6 Appendix
- 14.7 Notes
- 15. Adaptive Control of Hyperbolic PDEs with Piecewise-Constant Inputs and Identification
- 15.1 Problem Formulation
- 15.2 Nominal Control Design
- 15.3 Event-Triggered Control Design with Piecewise-Constant Parameter Identification
- 15.4 Main Result
- 15.5 Application in the Mining Cable Elevator
- 15.6 Appendix
- 15.7 Notes
- Bibliography
- Index
