Adaptive Control Of Underactuated Mechanical Systems
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Adaptive Control Of Underactuated Mechanical Systems
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Author : An-chyau Huang
language : en
Publisher: World Scientific
Release Date : 2015-01-29
Adaptive Control Of Underactuated Mechanical Systems written by An-chyau Huang and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-01-29 with Technology & Engineering categories.
In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems.
Analysis And Control Of Underactuated Mechanical Systems
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Author : Amal Choukchou-Braham
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-11-18
Analysis And Control Of Underactuated Mechanical Systems written by Amal Choukchou-Braham and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-11-18 with Technology & Engineering categories.
This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. The text is illustrated with MATLABsup®/sup/Simulink® simulations that demonstrate the effectiveness of the methods detailed./ppReaders interested in aircraft, vehicle control or various forms of walking robot will be able to learn from iUnderactuated Mechanical Systems
Control Of Underactuated Mechanical Systems
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Author : Afef Hfaiedh
language : en
Publisher: Academic Press
Release Date : 2025-04-01
Control Of Underactuated Mechanical Systems written by Afef Hfaiedh and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-04-01 with Technology & Engineering categories.
Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generationclearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS),addressing control design challenges and demonstrating concepts through real-time experiments.The book begins with advancements in UMS, introducing key concepts such as stabilization and limitcycle generation, supported by literature examples. It then focuses on the inertia wheel invertedpendulum, presenting a detailed discussion. The second part tackles stabilization, offering variouscontrol solutions validated through numerical simulations and real-time experiments. The finalpart addresses stable limit cycle generation, detailing three proposed control solutions and theirvalidation through different case studies.This book is a valuable resource for PhD and Master students, engineers, researchers, and educators.It provides guidance in robotics and automatic control, utilizing a simplified methodology forcontrolling underactuated mechanical systems. - • Addresses stabilization and stable limit cycle generation in underactuated mechanical systemsamid perturbations• Explores the design, development, and validation of robust control solutions• Illustrates concepts through case studies• Validates control solutions with numerical simulations and real-time experiments
Motion Control Of Underactuated Mechanical Systems
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Author : Javier Moreno-Valenzuela
language : en
Publisher: Springer
Release Date : 2017-07-11
Motion Control Of Underactuated Mechanical Systems written by Javier Moreno-Valenzuela and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-07-11 with Technology & Engineering categories.
This volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines.
Adaptive And Fault Tolerant Control Of Underactuated Nonlinear Systems
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Author : Jiangshuai Huang
language : en
Publisher: CRC Press
Release Date : 2017-12-22
Adaptive And Fault Tolerant Control Of Underactuated Nonlinear Systems written by Jiangshuai Huang and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-12-22 with Technology & Engineering categories.
The purpose of the book is to provide an exposition of recently developed adaptive and fault-tolerant control of underactuated nonlinear systems. Underactuated systems are abundant in real life, ranging from landing vehicles to surface ships and underwater vehicles to spacecrafts. For the tracking and stabilization control of underactuated mechanical systems, many methodologies have been proposed. However, a number of important issues deserve further investigation. In response to these issues, four important problems are solved in this book, including control of underactuated nonlinear systems with input saturation, output-feedback control in the presence of parametric uncertainties, fault-tolerant control of underactuated ships with or without actuator redundancy, and adaptive control of multiple underactauted nonlinear systems, including formation control and flocking control of multiple underactuated systems.
Nonlinear And Adaptive Control With Applications
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Author : Alessandro Astolfi
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-12-06
Nonlinear And Adaptive Control With Applications written by Alessandro Astolfi and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-12-06 with Technology & Engineering categories.
The authors here provide a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. They employ a new tool based on the ideas of system immersion and manifold invariance. New algorithms are delivered for the construction of robust asymptotically-stabilizing and adaptive control laws for nonlinear systems. The methods proposed lead to modular schemes that are easier to tune than their counterparts obtained from Lyapunov redesign.
Adaptive Control Of Robot Manipulators
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Author : An-Chyau Huang
language : en
Publisher: World Scientific
Release Date : 2010
Adaptive Control Of Robot Manipulators written by An-Chyau Huang and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Technology & Engineering categories.
This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.
Nonlinear Control Of Engineering Systems
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Author : Warren E. Dixon
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-06-29
Nonlinear Control Of Engineering Systems written by Warren E. Dixon and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-06-29 with Technology & Engineering categories.
Recent advancements in Lyapunov-based design and analysis techniques have applications to a broad class of engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems. This book provides a practical yet rigorous development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation. Features include: * Control designs for a broad class of engineering systems * Presentation of adaptive and learning control methods for uncertain nonlinear systems * Experimental testbed descriptions and results that guide the reader toward techniques for further research * Development of necessary mathematical background in each chapter; additional mathematical prerequisites contained in two appendices Intended for readers who have some knowledge of undergraduate systems theory, the book includes a wide range of applications making it suitable for an extensive audience. Graduate students and researchers in control systems, robotics, and applied mathematics, as well as professional engineers will appreciate the work's combination of theoretical underpinnings and current and emerging engineering applications.
Control Problems In Robotics And Automation
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Author : Bruno Siciliano
language : en
Publisher: Lecture Notes in Control and Information Sciences
Release Date : 1998-01-20
Control Problems In Robotics And Automation written by Bruno Siciliano and has been published by Lecture Notes in Control and Information Sciences this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998-01-20 with Business & Economics categories.
Focusing on the important control problems in state-of-the-art robotics and automation, this volume features invited papers from a workshop held at CDC, San Diego, California. As well as looking at current problems, it aims to identify and discuss challenging issues that are yet to be solved but which will be vital to future research directions. The many topics covered include: automatic control, distributed multi-agent control, multirobots, dexterous hands, flexible manipulators, walking robots, free-floating systems, nonholonomic robots, sensor fusion, fuzzy control, virtual reality, visual servoing, and task synchronization. Control Problems in Robotics and Automation will be of interest to all researchers, scientists and graduate students who wish to broaden their knowledge in robotics and automation and prepare themselves to address and resolve the control problems that will be faced in this field as we enter the twenty-first century.
Passivity Based Control Of Euler Lagrange Systems
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Author : Romeo Ortega
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-06-29
Passivity Based Control Of Euler Lagrange Systems written by Romeo Ortega and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-06-29 with Technology & Engineering categories.
The essence of this work is the control of electromechanical systems, such as manipulators, electric machines, and power converters. The common thread that links together the results presented here is the passivity property, which is at present in numerous electrical and mechanical systems, and which has great relevance in control engineering at this time. Amongst other topics, the authors cover: Euler-Lagrange Systems, Mechanical Systems, Generalised AC Motors, Induction Motor Control, Robots with AC Drives, and Perspectives and Open Problems. The authors have extensive experience of research and application in the field of control of electromechanical systems, which they have summarised here in this self-contained volume. While written in a strictly mathematical way, it is also elementary, and will be accessible to a wide-ranging audience, including graduate students as well as practitioners and researchers in this field.