内容简介：　　　

  In practice, actuators often undergo failures and various factors influence its effectiveness. Also due to the increasing complexity of large-scale systems, subsystems are often interconnected, whereas the interactions between any two subsystems are difficult to deal with. This book details a series of new methodologies of designing and analyzing adaptive backstepping control systems involving treatment on actuator failures, subsystem interactions and nonsmooth nonlinearities. Moreover, it discusses some interesting open issues in adaptive failure accommodation, decentralized adaptive control and distributed adaptive coordinated control.

英文目录：
Preface
1 Introduction
　　1.1 Adaptive Control
　　1.2 Adaptive Backstepping Control
　　1.3 Motivation
　　　　1.3.1 Adaptive Actuator Failure Compensation
　　　　1.3.2 Decentralized Adaptive Control with Nonsmooth Nonlinearities
　　　　1.3.3 Distributed Adaptive Consensus Control
　　1.4 Objectives
　　1.5 Preview of Chapters 
2 Adaptive Backstepping Control
　　2.1 Some Basics
　　　　2.1.1 Integrator Backstepping
　　　　2.1.2 Adaptive Backstepping Control
　　2.2 Two Standard Design Schemes
　　　　2.2.1 Tuning Functions Design
　　　　2.2.2 Modular Design
　　2.3 Notes
PART I: ACTUATOR FAILURE COMPENSATION
3 Adaptive Failure Compensation Control of Uncertain Systems
　　3.1 Introduction
　　　　3.1.1 A Motivating Example
　　　　3.1.2 Modeling of Actuator Failures
　　3.2 Set-Point Regulation of Linear Systems
　　　　3.2.1 Problem Formulation
　　　　3.2.2 Preliminary Designs
　　　　3.2.3 Design of Adaptive Contrl
　　　　3.2.4 Stability Analysis
　　　　3.2.5 An Illustrative Example
　　3.3 Tracking Control of Nonlinear Systems
　　　　3.3.1 Problem Formulation
　　　　3.3.2 Preliminary Designs
　　　　3.3.3 Design of Adaptive Controllers
　　　　3.3.4 Stability Analysis
　　　　3.3.5 An Illustrated Example
　　3.4 Notes
4 Adaptive Failure Compensation with Guaranteed Transient
Performance
　　4.1 Introduction
　　4.2 Problem Formulation
　　　　4.2.1 Modeling of Actuator Failures
　　　　4.2.2 Control Objectives
　　4.3 Basic Control Design
　　　　4.3.1 Design of Adaptive Controllers
　　　　4.3.2 Stability Analysis
　　　　4.3.3 Transient Performance Analysis
　　4.4 Prescribed Performance Bounds (PPB) Based Control Design
　　　　4.4.1 Transformed System
　　　　4.4.2 Design of Adaptive Controllers
　　　　4.4.3 Stability Analysis
　　4.5 Simulation Results.
　　4.6 Notes
5 Adaptive Compensation for Intermittent Actuator Failures
　　5.1 Introduction
　　5.2 Problem Formulation
　　　　5.2.1 Modeling of Intermittent Actuator Failures
　　　　5.2.2 Control Objectives
　　5.3 Design of Adaptive Controllers
　　　　5.3.1 Design of Control Law
　　　　5.3.2 Design of Parameter Update Law
　　5.4 Stability Analysis
　　5.5 Simulation Studies
　　　　5.5.1 A Numerical Example
　　　　5.5.2 Application to an Aircraft System
　　5.6 Notes
PART II: SUBSYSTEM INTERACTIONS AND NONSMOOTH NONLINEARITIES
6 Decentralized Adaptive Stabilization of Interconnected Systems
　　6.1 Introduction
　　6.2 Decentralized Adaptive Control of Linear Systems
　　　　6.2.1Modeling of Linear Interconnected Systems
　　　　6.2.2 Design of Local State Estimation Filters
　　　　6.2.3 Design of Decentralized Adaptive Controllers
　　　　6.2.4 Stability Analysis
　　6.3 Decentralized Control of Nonlinear Systems
　　　　6.3.1 Modeling of Nonlinear Interconnected Systems
　　　　6.3.2 Design of Local State Estimation Filters
　　　　6.3.3 Design of Decentralized Adaptive Controllers
　　　　6.3.4 Stability Analysis
　　6.4 Simulation Results
　　　　6.4.1 Linear Interconnected Systems
　　　　6.4.2 Nonlinear Interconnected Systems
　　6.5 Notes
7 Decentralized Adaptive Stabilization in the Presence of Unknown Backlash-Like Hysteresis
　　7.1 Introduction
　　7.2 Problem Formulation
　　7.3 Design of Local State Estimation Filters
　　7.4 Design of Adaptive Controllers
　　　　7.4.1 Control Scheme I
　　　　7.4.2 Control Scheme II
　　7.5 Stability Analysis
　　　　7.5.1 Control Scheme I
　　　　7.5.2 Control Scheme II
　　7.6 An Illustrative Example
　　7.7 Notes
8 Decentralized Backstepping Adaptive Output Tracking of Interconnected Nonlinear Systems
　　8.1 Introduction
　　8.2 Problem Formulation
　　8.3 Design of Adaptive Controllers
　　　　8.3.1 Design of Local State Estimation Filters
　　　　8.3.2 Design of Decentralized Adaptive Controllers
　　8.4 Stability Analysis
　　8.5 An Illustrative Example
　　8.6 Notes
9 Decentralized Adaptive Tracking Control of Time-Delay Systems with Dead-zone Input
　　9.1 Introduction
　　9.2 Problem Formulation
　　9.3 Design of Adaptive Controllers
　　　　9.3.1 Design of Local State Estimation Filters
　　　　9.3.2 Design of Adaptive Controllers
　　9.4 An Illustrative Example
　　9.5 Notes
10 Distributed Adaptive Control for Consensus Tracking with Application to Formation Control of Nonholonomic Mobile Robots
　　10.1 Introduction
　　10.2 Problem Formulation
　　10.3 Adaptive Control Design and Stability Analysis
　　　　10.3.1 Design of Distributed Adaptive Coordinated Controllers
　　　　10.3.2 Stability Analysis
　　　　10.3.3 An Illustrative Example
　　10.4 Application to Formation Control of Nonholonomic Mobile Robots
　　　　10.4.1 Robot Dynamics
　　　　10.4.2 Change of Coordinates
　　　　10.4.3 Formation Control Objective
　　　　10.4.4 Control Design
　　　　10.4.5 Simulation Results
　　10.5 Notes
11 Conclusion and Research Topics
　　11.1 Conclusion
　　11.2 Open Problems
Appendix A
Appendix B
Appendix C
References
Index