L2 Gain And Passivity Techniques In Nonlinear Control
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L2 Gain And Passivity Techniques In Nonlinear Control
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Author : Arjan van der Schaft
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
L2 Gain And Passivity Techniques In Nonlinear Control written by Arjan van der Schaft 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 Computers categories.
With respect to the first edition as Volume 218 in the Lecture Notes in Con trol and Information Sciences series the basic idea of the second edition has remained the same: to provide a compact presentation of some basic ideas in the classical theory of input-output and closed-loop stability, together with a choice of contributions to the recent theory of nonlinear robust and 1foo control and passivity-based control. Nevertheless, some parts of the book have been thoroughly revised and/or expanded, in order to have a more balanced presen tation of the theory and to include some of the new developments which have been taken place since the appearance of the first edition. I soon realized, how ever, that it is not possible to give a broad exposition of the existing literature in this area without affecting the spirit of the book, which is precisely aimed at a compact presentation. So as a result the second edition still reflects very much my personal taste and research interests. I trust that others will write books emphasizing different aspects. Major changes with respect to the first edition are the following: • A new section has been added in Chapter 2 relating L2-gain and passivity via scattering, emphasizing a coordinate-free, geometric, treatment. • The section on stability in Chapter 3 has been thoroughly expanded, also incorporating some recent results presented in [182J.
L2 Gain And Passivity Techniques In Nonlinear Control
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Author : Arjan van der Schaft
language : en
Publisher: Springer
Release Date : 2018-07-05
L2 Gain And Passivity Techniques In Nonlinear Control written by Arjan van der Schaft and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-07-05 with Computers categories.
This standard text gives a unified treatment of passivity and L2-gain theory for nonlinear state space systems, preceded by a compact treatment of classical passivity and small-gain theorems for nonlinear input-output maps. The synthesis between passivity and L2-gain theory is provided by the theory of dissipative systems. Specifically, the small-gain and passivity theorems and their implications for nonlinear stability and stabilization are discussed from this standpoint. The connection between L2-gain and passivity via scattering is detailed. Feedback equivalence to a passive system and resulting stabilization strategies are discussed. The passivity concepts are enriched by a generalised Hamiltonian formalism, emphasising the close relations with physical modeling and control by interconnection, and leading to novel control methodologies going beyond passivity. The potential of L2-gain techniques in nonlinear control, including a theory of all-pass factorizations of nonlinear systems, and of parametrization of stabilizing controllers, is demonstrated. The nonlinear H-infinity optimal control problem is also treated and the book concludes with a geometric analysis of the solution sets of Hamilton-Jacobi inequalities and their relation with Riccati inequalities for the linearization. · L2-Gain and Passivity Techniques in Nonlinear Control (third edition) is thoroughly updated, revised, reorganized and expanded. Among the changes, readers will find: · updated and extended coverage of dissipative systems theory · substantial new material regarding converse passivity theorems and incremental/shifted passivity · coverage of recent developments on networks of passive systems with examples · a completely overhauled and succinct introduction to modeling and control of port-Hamiltonian systems, followed by an exposition of port-Hamiltonian formulation of physical network dynamics · updated treatment of all-pass factorization of nonlinear systems The book provides graduate students and researchers in systems and control with a compact presentation of a fundamental and rapidly developing area of nonlinear control theory, illustrated by a broad range of relevant examples stemming from different application areas.
Lagrangian And Hamiltonian Methods For Nonlinear Control 2003
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Author : A Astolfi
language : en
Publisher: Elsevier
Release Date : 2003-10-07
Lagrangian And Hamiltonian Methods For Nonlinear Control 2003 written by A Astolfi and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-10-07 with Mathematics categories.
This is the second of a series of IFAC Workshops initiated in 2000. The first one chaired and organized by Profs. N. Leonard and R. Ortega, was held in Princeton in March 2000. This proceedings volume looks at the role-played by Lagrangian and Hamiltonian methods in disciplines such as classical mechanics, quantum mechanics, fluid dynamics, electrodynamics, celestial mechanics and how such methods can be practically applied in the control community. *Presents and illustrates new approaches to nonlinear control that exploit the Lagrangian and Hamiltonian structure of the system to be controlled *Highlights the important role of Lagrangian and Hamiltonian Structures as design methods
Lagrangian And Hamiltonian Methods For Nonlinear Control 2006
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Author : Francesco Bullo
language : en
Publisher: Springer
Release Date : 2007-10-06
Lagrangian And Hamiltonian Methods For Nonlinear Control 2006 written by Francesco Bullo and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-10-06 with Technology & Engineering categories.
Nonlinear Control Of Robots And Unmanned Aerial Vehicles
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Author : Ranjan Vepa
language : en
Publisher: CRC Press
Release Date : 2016-10-14
Nonlinear Control Of Robots And Unmanned Aerial Vehicles written by Ranjan Vepa and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-10-14 with Technology & Engineering categories.
Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.
Nonlinear Control Systems
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Author : Alberto Isidori
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-04-17
Nonlinear Control Systems written by Alberto Isidori 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 2013-04-17 with Technology & Engineering categories.
The purpose of this book is to present a self-contained description of the fun damentals of the theory of nonlinear control systems, with special emphasis on the differential geometric approach. The book is intended as a graduate text as weil as a reference to scientists and engineers involved in the analysis and design of feedback systems. The first version of this book was written in 1983, while I was teach ing at the Department of Systems Science and Mathematics at Washington University in St. Louis. This new edition integrates my subsequent teaching experience gained at the University of Illinois in Urbana-Champaign in 1987, at the Carl-Cranz Gesellschaft in Oberpfaffenhofen in 1987, at the University of California in Berkeley in 1988. In addition to a major rearrangement of the last two Chapters of the first version, this new edition incorporates two additional Chapters at a more elementary level and an exposition of some relevant research findings which have occurred since 1985.
Learning Based Adaptive Control
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Author : Mouhacine Benosman
language : en
Publisher: Butterworth-Heinemann
Release Date : 2016-08-02
Learning Based Adaptive Control written by Mouhacine Benosman and has been published by Butterworth-Heinemann this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-08-02 with Technology & Engineering categories.
Adaptive control has been one of the main problems studied in control theory. The subject is well understood, yet it has a very active research frontier. This book focuses on a specific subclass of adaptive control, namely, learning-based adaptive control. As systems evolve during time or are exposed to unstructured environments, it is expected that some of their characteristics may change. This book offers a new perspective about how to deal with these variations. By merging together Model-Free and Model-Based learning algorithms, the author demonstrates, using a number of mechatronic examples, how the learning process can be shortened and optimal control performance can be reached and maintained. - Includes a good number of Mechatronics Examples of the techniques. - Compares and blends Model-free and Model-based learning algorithms. - Covers fundamental concepts, state-of-the-art research, necessary tools for modeling, and control.
System Theory
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Author : Theodore E. Djaferis
language : en
Publisher: Springer Science & Business Media
Release Date : 1999-09-30
System Theory written by Theodore E. Djaferis 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 1999-09-30 with Science categories.
System Theory: Modeling, Analysis and Control contains thirty-three scientific papers covering a wide range of topics in systems and control. These papers have been contributed to a symposium organized to celebrate Sanjoy K. Mitter's 65th birthday. The following research topics are addressed: distributed parameter systems, stochastic control, filtering and estimation, optimization and optimal control, image processing and vision, hierarchical systems and hybrid control, nonlinear systems, and linear systems. Also included are three survey papers on optimization, nonlinear filtering, and nonlinear systems. Recent advances are reported on the behavioral approach to systems, the relationship between differential games and robust control, estimation of diffusion processes, Markov processes, optimal control, hybrid control, stochastic control, spectral estimation, nonconvex quadratic programming, robust control, control algorithms and quantized linear systems. Innovative explorations are carried out on quantum systems from a control theory perspective, option valuation and hedging, three-dimensional medical visualization, computational structure biology image processing, and hierarchical approaches to complex systems, flow control, scheduling and force feedback in fluid mechanics. The contents reflect on past research accomplishments, current research activity, and future research directions in systems and control theory.
Simulation Based Algorithms For Markov Decision Processes
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Author : Hyeong Soo Chang
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-05-01
Simulation Based Algorithms For Markov Decision Processes written by Hyeong Soo Chang 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 2007-05-01 with Business & Economics categories.
Often, real-world problems modeled by Markov decision processes (MDPs) are difficult to solve in practise because of the curse of dimensionality. In others, explicit specification of the MDP model parameters is not feasible, but simulation samples are available. For these settings, various sampling and population-based numerical algorithms for computing an optimal solution in terms of a policy and/or value function have been developed recently. Here, this state-of-the-art research is brought together in a way that makes it accessible to researchers of varying interests and backgrounds. Many specific algorithms, illustrative numerical examples and rigorous theoretical convergence results are provided. The algorithms differ from the successful computational methods for solving MDPs based on neuro-dynamic programming or reinforcement learning. The algorithms can be combined with approximate dynamic programming methods that reduce the size of the state space and ameliorate the effects of dimensionality.
Dissipative Systems Analysis And Control
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Author : Bernard Brogliato
language : en
Publisher: Springer
Release Date : 2019-07-03
Dissipative Systems Analysis And Control written by Bernard Brogliato and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-07-03 with Technology & Engineering categories.
The third edition of the now standard Dissipative Systems Analysis and Control presents a revised and expanded treatment of dissipative systems theory, constituting a self-contained, advanced introduction for graduate students, researchers and practising engineers. It examines linear, nonlinear and nonsmooth systems, with many examples in each chapter; occasional infinite-dimensional examples are also included. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable and robust feedback control laws or state observers. The theory is substantiated by experimental results and by reference to its application in illustrative physical cases (Lagrangian systems, passivity-based and adaptive controllers are covered thoroughly). The third edition is substantially updated to accommodate new material within the existing chapter structure. The additions include: · the introduction of negative imaginary transfer functions; · the design of stable state observers that use passivity as a tool for their stability analysis; · a new section on robust set-valued control of uncertain Lagrangian systems; · extended section on discrete-time systems, especially the preservation of dissipativity after discretization; . a thorough treatment of nonsmooth set-valued Lur'e systems well-posednees and stability; . an extended chapter on the Kalman–Yakubovich–Popov Lemma; and . over 1000 references.