Robust autonomous guidance : an internal model approach
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Bibliographic Information
Robust autonomous guidance : an internal model approach
（Advances in industrial control）
Springer, c2003
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Includes bibliographical references and index
Description and Table of Contents
Description
From the reviews: "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." IEEE Control Systems Magazine
Table of Contents
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!angular 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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