Distributed Parameter Modeling And Boundary Control Of Flexible Manipulators
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Distributed Parameter Modeling And Boundary Control Of Flexible Manipulators
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Author : Jinkun Liu
language : en
Publisher: Springer
Release Date : 2018-04-16
Distributed Parameter Modeling And Boundary Control Of Flexible Manipulators written by Jinkun Liu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-04-16 with Technology & Engineering categories.
The book investigates fundamental issues in flexible manipulator systems, including distributed parameter modeling and boundary controller design. It presents theoretical explorations of several fundamental problems concerning the dynamics and control of these systems. By integrating fresh concepts and results to form a systematic approach to control, it also provides a basic theoretical framework. In turn, the book offers a comprehensive treatment of flexible manipulator systems, addressing topics ranging from related distributed parameter modeling and advanced boundary controller design for these systems with input constraint, to active control with output constraint. In brief, the book addresses dynamical analysis and control design for flexible manipulator systems. Though primarily intended for researchers and engineers in the control system and mechanical engineering community, it can also serve as supplemental reading on the modeling and control of flexible manipulator systems at the postgraduate level.
Boundary Control Of Flexible Three Dimensional Euler Bernoulli Beams
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Author : Ning Ji
language : en
Publisher: Springer Nature
Release Date : 2022-03-24
Boundary Control Of Flexible Three Dimensional Euler Bernoulli Beams written by Ning Ji and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-03-24 with Technology & Engineering categories.
This book focuses on vibration suppression of flexible three-dimensional Euler–Bernoulli beams modeled by PDEs. Boundary control strategy and several control methods are proposed to stabilize the closed-loop system. Besides, some common engineering problems such as input constraint and output constraint are also considered in the control scheme design. This book offers a comprehensive introduction of the modeling process, controller design, stability analysis and numerical simulation. The detailed MATLAB codes in each chapter are also provided, which can make readers better understand the control flow of the system. This book is mainly targeted for researchers, senior undergraduate students and postgraduate students in the field of control theory and control engineering.
Flexible Manipulators
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Author : Yanqing Gao
language : en
Publisher: Academic Press
Release Date : 2012-04-16
Flexible Manipulators written by Yanqing Gao and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-04-16 with Technology & Engineering categories.
The Intelligent Systems Series comprises titles that present state-of-the-art knowledge and the latest advances in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications. Flexible manipulators play a critical role in applications in a diverse range of fields, such as construction automation, environmental applications, and space engineering. Due to the complexity of the link deformation and dynamics, the research effort on accurate modeling and high performance control of flexible manipulators has increased dramatically in recent years. This book presents analysis, data and insights that will of particular use for researchers and engineers working on the optimization and control of robotic manipulators and automation systems. - Government and industry groups have specifically stressed the importance of innovation in robotics, manufacturing automation, and control systems for maintaining innovation and high-value-added manufacturing - Discusses the latest research on the quantitative effects of size, shape, mass distribution, tip load, on the dynamics and operational performance of flexible manipulators - Presents unique analyses critical to the effective modeling and optimization of manipulators: hard to find data unavailable elsewhere
Advanced Studies Of Flexible Robotic Manipulators Modeling Design Control And Applications
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Author : Yanqing Gao
language : en
Publisher: World Scientific
Release Date : 2003-08-14
Advanced Studies Of Flexible Robotic Manipulators Modeling Design Control And Applications written by Yanqing Gao and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-08-14 with Technology & Engineering categories.
Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators.
Lyapunov Based Control Of Mechanical Systems
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Author : Marcio S. de Queiroz
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Lyapunov Based Control Of Mechanical Systems written by Marcio S. de Queiroz 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 2012-12-06 with Technology & Engineering categories.
The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades. From a theoretical point of view, this attention can be attributed to their interesting dynamic behavior, which makes them suitable benchmarks for nonlinear control the oreticians. On the other hand, recent technological advances have produced many real-world engineering applications that require the automatic con trol of mechanical systems. the mechanism for de Often, Lyapunov-based techniques are utilized as veloping different nonlinear control structures for mechanical systems. The allure of the Lyapunov-based framework for mechanical system control de sign can most likely be assigned to the fact that Lyapunov function candi dates can often be crafted from physical insight into the mechanics of the system. That is, despite the nonlinearities, couplings, and/or the flexible effects associated with the system, Lyapunov-based techniques can often be used to analyze the stability of the closed-loop system by using an energy like function as the Lyapunov function candidate. In practice, the design procedure often tends to be an iterative process that results in the death of many trees. That is, the controller and energy-like function are often constructed in concert to foster an advantageous stability property and/or robustness property. Fortunately, over the last 15 years, many system the ory and control researchers have labored in this area to produce various design tools that can be applied in a variety of situations.
Boundary Control Of Pdes
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Author : Miroslav Krstic
language : en
Publisher: SIAM
Release Date : 2008-01-01
Boundary Control Of Pdes written by Miroslav Krstic and has been published by SIAM this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-01-01 with Mathematics categories.
The text's broad coverage includes parabolic PDEs; hyperbolic PDEs of first and second order; fluid, thermal, and structural systems; delay systems; PDEs with third and fourth derivatives in space (including variants of linearized Ginzburg-Landau, Schrodinger, Kuramoto-Sivashinsky, KdV, beam, and Navier-Stokes equations); real-valued as well as complex-valued PDEs; stabilization as well as motion planning and trajectory tracking for PDEs; and elements of adaptive control for PDEs and control of nonlinear PDEs.
Robust Control Algorithms For Flexible Manipulators
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Author : Kshetrimayum Lochan
language : en
Publisher: CRC Press
Release Date : 2024-10-13
Robust Control Algorithms For Flexible Manipulators written by Kshetrimayum Lochan and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-13 with Technology & Engineering categories.
Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
European Control Conference 1995
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Author :
language : en
Publisher: European Control Association
Release Date : 1995-09-05
European Control Conference 1995 written by and has been published by European Control Association this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995-09-05 with categories.
Proceedings of the European Control Conference 1995, Rome, Italy 5-8 September 1995
Finite Frequency Analysis And Synthesis For Singularly Perturbed Systems
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Author : Chenxiao Cai
language : en
Publisher: Springer
Release Date : 2016-09-28
Finite Frequency Analysis And Synthesis For Singularly Perturbed Systems written by Chenxiao Cai and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-09-28 with Technology & Engineering categories.
This book is a self-contained collection of recent research findings providing a comprehensive and systematic unified framework for both analysis and synthesis for singularly perturbed systems. It paves the way for the gap between frequency-domain-transfer-function-based results and time-domain-state-space-based results to be bridged. It is divided into three parts focusing on: fundamental background of singular perturbation; general singular perturbation methodologies and time-scale techniques and the theoretical foundation of finite-frequency control; the analysis and synthesis of singularly perturbed systems; and real-world engineering applications implementing the results developed in systems like wind turbines and autonomous-aerial-vehicle hovering. It also presents solutions to analysis and design problems in terms of linear matrix inequalities. Lastly, it provides valuable reference material for researchers who wish to explore the design of controllers for such systems.
Advanced H Control
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Author : Yury V. Orlov
language : en
Publisher: Springer Science & Business Media
Release Date : 2014-02-20
Advanced H Control written by Yury V. Orlov 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 2014-02-20 with Science categories.
This compact monograph is focused on disturbance attenuation in nonsmooth dynamic systems, developing an H∞ approach in the nonsmooth setting. Similar to the standard nonlinear H∞ approach, the proposed nonsmooth design guarantees both the internal asymptotic stability of a nominal closed-loop system and the dissipativity inequality, which states that the size of an error signal is uniformly bounded with respect to the worst-case size of an external disturbance signal. This guarantee is achieved by constructing an energy or storage function that satisfies the dissipativity inequality and is then utilized as a Lyapunov function to ensure the internal stability requirements. Advanced H∞ Control is unique in the literature for its treatment of disturbance attenuation in nonsmooth systems. It synthesizes various tools, including Hamilton–Jacobi–Isaacs partial differential inequalities as well as Linear Matrix Inequalities. Along with the finite-dimensional treatment, the synthesis is extended to infinite-dimensional setting, involving time-delay and distributed parameter systems. To help illustrate this synthesis, the book focuses on electromechanical applications with nonsmooth phenomena caused by dry friction, backlash, and sampled-data measurements. Special attention is devoted to implementation issues. Requiring familiarity with nonlinear systems theory, this book will be accessible to g raduate students interested in systems analysis and design, and is a welcome addition to the literature for researchers and practitioners in these areas.