Journal Article•
Adaptive Control
TL;DR: In this paper, two major figures in adaptive control provide a wealth of material for researchers, practitioners, and students to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs.
Abstract: This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.
Citations
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TL;DR: This survey is the first to bring to the attention of the controls community the important contributions from the tribology, lubrication and physics literatures, and provides a set of models and tools for friction compensation which will be of value to both research and application engineers.
2,658 citations
TL;DR: In this paper, the authors provide a concise point of departure for researchers and practitioners alike wishing to assess the current state of the art in the control and monitoring of civil engineering structures, and provide a link between structural control and other fields of control theory.
Abstract: This tutorial/survey paper: (1) provides a concise point of departure for researchers and practitioners alike wishing to assess the current state of the art in the control and monitoring of civil engineering structures; and (2) provides a link between structural control and other fields of control theory, pointing out both differences and similarities, and points out where future research and application efforts are likely to prove fruitful. The paper consists of the following sections: section 1 is an introduction; section 2 deals with passive energy dissipation; section 3 deals with active control; section 4 deals with hybrid and semiactive control systems; section 5 discusses sensors for structural control; section 6 deals with smart material systems; section 7 deals with health monitoring and damage detection; and section 8 deals with research needs. An extensive list of references is provided in the references section.
1,883 citations
01 Jan 2012
TL;DR: A survey of work in reinforcement learning for behavior generation in robots can be found in this article, where the authors highlight key challenges in robot reinforcement learning as well as notable successes and discuss the role of algorithms, representations and prior knowledge in achieving these successes.
Abstract: Reinforcement learning offers to robotics a framework and set of tools for the design of sophisticated and hard-to-engineer behaviors. Conversely, the challenges of robotic problems provide both inspiration, impact, and validation for developments in reinforcement learning. The relationship between disciplines has sufficient promise to be likened to that between physics and mathematics. In this article, we attempt to strengthen the links between the two research communities by providing a survey of work in reinforcement learning for behavior generation in robots. We highlight both key challenges in robot reinforcement learning as well as notable successes. We discuss how contributions tamed the complexity of the domain and study the role of algorithms, representations, and prior knowledge in achieving these successes. As a result, a particular focus of our paper lies on the choice between model-based and model-free as well as between value-function-based and policy-search methods. By analyzing a simple problem in some detail we demonstrate how reinforcement learning approaches may be profitably applied, and we note throughout open questions and the tremendous potential for future research.
1,513 citations
TL;DR: The task-switching paradigm offers enormous possibilities to study cognitive control as well as task interference, and the current review provides an overview of recent research on both topics.
Abstract: The task-switching paradigm offers enormous possibilities to study cognitive control as well as task interference. The current review provides an overview of recent research on both topics. First, we review different experimental approaches to task switching, such as comparing mixed-task blocks with single-task blocks, predictable task-switching and task-cuing paradigms, intermittent instructions, and voluntary task selection. In the 2nd part, we discuss findings on preparatory control mechanisms in task switching and theoretical accounts of task preparation. We consider preparation processes in two-stage models, consider preparation as an all-or-none process, address the question of whether preparation is switch-specific, reflect on preparation as interaction of cue encoding and memory retrieval, and discuss the impact of verbal mediation on preparation. In the 3rd part, we turn to interference phenomena in task switching. We consider proactive interference of tasks and inhibition of recently performed tasks indicated by asymmetrical switch costs and n-2 task-repetition costs. We discuss stimulus-based interference as a result of stimulus-based response activation and stimulus-based task activation, and response-based interference because of applying bivalent rather than univalent responses, response repetition effects, and carryover of response selection and execution. In the 4th and final part, we mention possible future research fields.
1,223 citations
TL;DR: This paper provides the first proof of stability of an extremum seeking feedback scheme by employing the tools of averaging and singular perturbation analysis and allows the plant to be a general nonlinear dynamic system whose reference-to-output equilibrium map has a maximum and whose equilibria are locally exponentially stabilizable.
1,222 citations
References
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Book•
01 Jan 1991
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Abstract: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
15,545 citations
Book•
01 Jan 1989TL;DR: In this paper, the deterministic theory of adaptive control (AC) is presented in an introduction for graduate students and practicing engineers, with a focus on basic AC approaches, notation and fundamental theorems, identification problem, model-reference AC, parameter convergence using averaging techniques, and robustness.
Abstract: The deterministic theory of adaptive control (AC) is presented in an introduction for graduate students and practicing engineers. Chapters are devoted to basic AC approaches, notation and fundamental theorems, the identification problem, model-reference AC, parameter convergence using averaging techniques, and AC robustness. Consideration is given to the use of prior information, the global stability of indirect AC schemes, multivariable AC, linearizing AC for a class of nonlinear systems, AC of linearizable minimum-phase systems, and MIMO systems decouplable by static state feedback.
2,914 citations
TL;DR: This survey is the first to bring to the attention of the controls community the important contributions from the tribology, lubrication and physics literatures, and provides a set of models and tools for friction compensation which will be of value to both research and application engineers.
2,658 citations
Book•
[...]
01 Sep 1997
TL;DR: Drawing on their extensive experience working with industry on implementations, Kevin Passino and Stephen Yurkovich have written an excellent hands-on introduction for professionals and educators interested in learning or teaching fuzzy control.
Abstract: From the Publisher:
Fuzzy control is emerging as a practical alternative to conventional methods of solving challenging control problems. Written by two authors who have been involved in creating theoretical foundations for the field and who have helped assess the value of this new technology relative to conventional approaches, Fuzzy Control is filled with a wealth of examples and case studies on design and implementation. Computer code and MATLAB files can be downloaded for solving the book's examples and problems and can be easily modified to implement the reader's own fuzzy controllers or estimators. Drawing on their extensive experience working with industry on implementations, Kevin Passino and Stephen Yurkovich have written an excellent hands-on introduction for professionals and educators interested in learning or teaching fuzzy control.
2,207 citations
TL;DR: In this paper, the authors provide a concise point of departure for researchers and practitioners alike wishing to assess the current state of the art in the control and monitoring of civil engineering structures, and provide a link between structural control and other fields of control theory.
Abstract: This tutorial/survey paper: (1) provides a concise point of departure for researchers and practitioners alike wishing to assess the current state of the art in the control and monitoring of civil engineering structures; and (2) provides a link between structural control and other fields of control theory, pointing out both differences and similarities, and points out where future research and application efforts are likely to prove fruitful. The paper consists of the following sections: section 1 is an introduction; section 2 deals with passive energy dissipation; section 3 deals with active control; section 4 deals with hybrid and semiactive control systems; section 5 discusses sensors for structural control; section 6 deals with smart material systems; section 7 deals with health monitoring and damage detection; and section 8 deals with research needs. An extensive list of references is provided in the references section.
1,883 citations