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
Release Date : 2016-12-04
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 2016-12-04 with Technology & Engineering 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.
L2 Gain And Passivity Techniques In Nonlinear Control
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Author :
language : en
Publisher:
Release Date : 1996
L2 Gain And Passivity Techniques In Nonlinear Control written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1996 with Automatic control categories.
L2 Gain And Passivity Techniques In Nonlinear Control
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Author : A. J. van der Schaft
language : en
Publisher:
Release Date : 1996
L2 Gain And Passivity Techniques In Nonlinear Control written by A. J. van der Schaft and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1996 with Technology & Engineering categories.
The aim of these lecture notes is to provide a synthesis between classical input-output and closed-loop stability theory, in particular the small-gain and passivity theorems, and recent work on nonlinear H( and passivity-based control. The treatment of the theory of dissipative systems is the main aspect of these lecture notes. Fundamentals of passivity techniques are summarised, and it is shown that the passivity properties of different classes of physical systems can be unified within a generalised Hamiltonian framework. Key developments in linear robust control theory are extended to the nonlinear context using L2-gain techniques. An extensive treatment of nonlinear H( control theory is presented, emphasising its main structural features. Since the application of L2-gain techniques relies on solving Hamilton-Jacobi inequalities the structure of their solution sets and conditions for solvability are derived.
L Gain And Passivity Techniques In Nonlinear Control
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Author : A. J. van der Schaft
language : en
Publisher:
Release Date : 1996
L Gain And Passivity Techniques In Nonlinear Control written by A. J. van der Schaft and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1996 with Automatic control categories.
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
Dynamic Surface Control Of Uncertain Nonlinear Systems
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Author : Bongsob Song
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-05-16
Dynamic Surface Control Of Uncertain Nonlinear Systems written by Bongsob Song 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 2011-05-16 with Technology & Engineering categories.
Although the problem of nonlinear controller design is as old as that of linear controller design, the systematic design methods framed in response are more sparse. Given the range and complexity of nonlinear systems, effective new methods of control design are therefore of significant importance. Dynamic Surface Control of Uncertain Nonlinear Systems provides a theoretically rigorous and practical introduction to nonlinear control design. The convex optimization approach applied to good effect in linear systems is extended to the nonlinear case using the new dynamic surface control (DSC) algorithm developed by the authors. A variety of problems – DSC design, output feedback, input saturation and fault-tolerant control among them – are considered. The inclusion of applications material demonstrates the real significance of the DSC algorithm, which is robust and easy to use, for nonlinear systems with uncertainty in automotive and robotics. Written for the researcher and graduate student of nonlinear control theory, this book will provide the applied mathematician and engineer alike with a set of powerful tools for nonlinear control design. It will also be of interest to practitioners working with a mechatronic systems in aerospace, manufacturing and automotive and robotics, milieux.
Current Trends In Nonlinear Systems And Control
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Author : Laura Menini
language : en
Publisher: Springer Science & Business Media
Release Date : 2006-09-13
Current Trends In Nonlinear Systems And Control written by Laura Menini 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 2006-09-13 with Technology & Engineering categories.
This volume is an outgrowth of the workshop "Applications of Advanced Control Theory to Robotics and Automation, "organized in honor of the 70th birthdays of Petar V. Kokotovic and Salvatore (Turi) Nicosia. Both Petar and Turi have carried out distinguished work in the control community and have long been recognized as mentors, as well as experts and pioneers in the field of automatic control, covering many topics in control theory and several different applications. The variety of their research is reflected in this book, which includes contributions ranging from mathematics to laboratory experiments. The scope of the work is very broad, and although each chapter is self-contained, the book has been organized into thematically related chapters, which in some cases, suggest to the reader a convenient reading sequence. The great variety of topics covered and the almost tutorial writing style used by many of the authors will make this book suitable for both experts in the control field and young researchers who seek a more intuitive understanding of these relevant topics in the field.
Decentralized Systems With Design Constraints
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Author : Magdi S. Mahmoud
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-02-24
Decentralized Systems With Design Constraints written by Magdi S. Mahmoud 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 2011-02-24 with Technology & Engineering categories.
Decentralized Control and Filtering provides a rigorous framework for examining the analysis, stability and control of large-scale systems, addressing the difficulties that arise because dimensionality, information structure constraints, parametric uncertainty and time-delays. This monograph serves three purposes: it reviews past methods and results from a contemporary perspective; it examines presents trends and approaches and to provide future possibilities; and it investigates robust, reliable and/or resilient decentralized design methods based on a framework of linear matrix inequalities. As well as providing an overview of large-scale systems theories from the past several decades, the author presents key modern concepts and efficient computational methods. Representative numerical examples, end-of-chapter problems, and typical system applications are included, and theoretical developments and practical applications of large-scale dynamical systems are discussed in depth.
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.
This second edition of Dissipative Systems Analysis and Control has been substantially reorganized to accommodate new material and enhance its pedagogical features. It examines linear and nonlinear systems with examples of both in each chapter. Also included are some infinite-dimensional and nonsmooth examples. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable feedback control laws.
Robot Manipulators
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Author : Alex Lazinica
language : en
Publisher: BoD – Books on Demand
Release Date : 2010-04-01
Robot Manipulators written by Alex Lazinica and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-04-01 with Technology & Engineering categories.
Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world.