Non Linear Control For Underactuated Mechanical Systems
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Non Linear Control For Underactuated Mechanical Systems
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Author : Isabelle Fantoni
language : en
Publisher: Springer Science & Business Media
Release Date : 2002
Non Linear Control For Underactuated Mechanical Systems written by Isabelle Fantoni 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 2002 with Computers categories.
This book deals with the application of modern control theory to some important underactuated mechanical systems. It presents modelling and control of the following systems: the inverted pendulum; a convey-crane system; the pendubot system; the Furuta pendulum; the inertia wheel pendulum; the planar flexible-joint robot; the planar manipulator with two prismatic and one revolute joints; the ball & beam system; the hovercraft model; the planar vertical and take-off landing (PVTOL) aircraft; the helicopter model on a platform; the helicopter model. In every case the model is obtained in detail using either the Euler-Lagrange formulation or the Newton's second law. The text develops control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques. This book is designed for PhD students and researchers in the areas of non-linear control systems, mechanical systems, robotics and control of helicopters. It will help the reader gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.
Non Linear Control For Underactuated Mechanical Systems
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Author : Isabelle Fantoni
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Non Linear Control For Underactuated Mechanical Systems written by Isabelle Fantoni 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.
This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear 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
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.
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.
Control Of Ships And Underwater Vehicles
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Author : Khac Duc Do
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-08-09
Control Of Ships And Underwater Vehicles written by Khac Duc Do 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 2009-08-09 with Technology & Engineering categories.
Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors’ systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following. Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.
Pid Passivity Based Control Of Nonlinear Systems With Applications
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Author : Romeo Ortega
language : en
Publisher: John Wiley & Sons
Release Date : 2021-09-15
Pid Passivity Based Control Of Nonlinear Systems With Applications written by Romeo Ortega and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-09-15 with Science categories.
Explore the foundational and advanced subjects associated with proportional-integral-derivative controllers from leading authors in the field In PID Passivity-Based Control of Nonlinear Systems with Applications, expert researchers and authors Drs. Romeo Ortega, Jose Guadalupe Romero, Pablo Borja, and Alejandro Donaire deliver a comprehensive and detailed discussion of the most crucial and relevant concepts in the analysis and design of proportional-integral-derivative controllers using passivity techniques. The accomplished authors present a formal treatment of the recent research in the area and offer readers practical applications of the developed methods to physical systems, including electrical, mechanical, electromechanical, power electronics, and process control. The book offers the material with minimal mathematical background, making it relevant to a wide audience. Familiarity with the theoretical tools reported in the control systems literature is not necessary to understand the concepts contained within. You’ll learn about a wide range of concepts, including disturbance rejection via PID control, PID control of mechanical systems, and Lyapunov stability of PID controllers. Readers will also benefit from the inclusion of: A thorough introduction to a class of physical systems described in the port-Hamiltonian form and a presentation of the systematic procedures to design PID-PBC for them An exploration of the applications to electrical, electromechanical, and process control systems of Lyapunov stability of PID controllers Practical discussions of the regulation and tracking of bilinear systems via PID control and their application to power electronics and thermal process control A concise treatment of the characterization of passive outputs, incremental models, and Port Hamiltonian and Euler-Lagrange systems Perfect for senior undergraduate and graduate students studying control systems, PID Passivity-Based Control will also earn a place in the libraries of engineers who practice in this area and seek a one-stop and fully updated reference on the subject.
The Reaction Wheel Pendulum
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Author : Daniel J. Block
language : en
Publisher: Springer Nature
Release Date : 2022-05-31
The Reaction Wheel Pendulum written by Daniel J. Block and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-05-31 with Computers categories.
This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.
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.