Nonlinear Control And Analytical Mechanics
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Nonlinear Control And Analytical Mechanics
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Author : Harry G. Kwatny
language : en
Publisher: Springer Science & Business Media
Release Date : 2000-09-08
Nonlinear Control And Analytical Mechanics written by Harry G. Kwatny 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 2000-09-08 with Computers categories.
During the past decade we have had to confront a series of control design prob lems - involving, primarily, multibody electro-mechanical systems - in which nonlinearity plays an essential role. Fortunately, the geometric theory of non linear control system analysis progressed substantially during the 1980s and 90s, providing crucial conceptual tools that addressed many of our needs. However, as any control systems engineer can attest, issues of modeling, computation, and implementation quickly become the dominant concerns in practice. The prob lems of interest to us present unique challenges because of the need to build and manipulate complex mathematical models for both the plant and controller. As a result, along with colleagues and students, we set out to develop computer algebra tools to facilitate model building, nonlinear control system design, and code generation, the latter for both numerical simulation and real time con an outgrowth of that continuing effort. As trol implementation. This book is a result, the unique features of the book includes an integrated treatment of nonlinear control and analytical mechanics and a set of symbolic computing software tools for modeling and control system design. By simultaneously considering both mechanics and control we achieve a fuller appreciation of the underlying geometric ideas and constructions that are common to both. Control theory has had a fruitful association with analytical mechanics from its birth in the late 19th century.
Nonholonomic Mechanics And Control
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Author : A.M. Bloch
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-02-03
Nonholonomic Mechanics And Control written by A.M. Bloch 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 2008-02-03 with Mathematics categories.
Our goal in this book is to explore some of the connections between control theory and geometric mechanics; that is, we link control theory with a g- metric view of classical mechanics in both its Lagrangian and Hamiltonian formulations and in particular with the theory of mechanical systems s- ject to motion constraints. This synthesis of topics is appropriate, since there is a particularly rich connection between mechanics and nonlinear control theory. While an introduction to many important aspects of the mechanics of nonholonomically constrained systems may be found in such sources as the monograph of Neimark and Fufaev [1972], the geometric view as well as the control theory of such systems remains largely sc- tered through various research journals. Our aim is to provide a uni?ed treatment of nonlinear control theory and constrained mechanical systems that will incorporate material that has not yet made its way into texts and monographs. Mechanicshastraditionallydescribedthebehavioroffreeandinteracting particles and bodies, the interaction being described by potential forces. It encompasses the Lagrangian and Hamiltonian pictures and in its modern form relies heavily on the tools of di?erential geometry (see, for example, Abraham and Marsden [1978]and Arnold [1989]). From our own point of view,ourpapersBloch,Krishnaprasad,Marsden,andMurray[1996],Bloch and Crouch [1995], and Baillieul [1998] have been particularly in?uential in the formulations presented in this book. Control Theory and Nonholonomic Systems. Control theory is the theory of prescribing motion for dynamical systems rather than describing vi Preface their observed behavior.
Nonlinear Systems Analysis
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Author : M. Vidyasagar
language : en
Publisher: SIAM
Release Date : 2002-01-01
Nonlinear Systems Analysis written by M. Vidyasagar and has been published by SIAM this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002-01-01 with Mathematics categories.
When M. Vidyasagar wrote the first edition of Nonlinear Systems Analysis, most control theorists considered the subject of nonlinear systems a mystery. Since then, advances in the application of differential geometric methods to nonlinear analysis have matured to a stage where every control theorist needs to possess knowledge of the basic techniques because virtually all physical systems are nonlinear in nature. The second edition, now republished in SIAM's Classics in Applied Mathematics series, provides a rigorous mathematical analysis of the behavior of nonlinear control systems under a variety of situations. It develops nonlinear generalizations of a large number of techniques and methods widely used in linear control theory. The book contains three extensive chapters devoted to the key topics of Lyapunov stability, input-output stability, and the treatment of differential geometric control theory. Audience: this text is designed for use at the graduate level in the area of nonlinear systems and as a resource for professional researchers and practitioners working in areas such as robotics, spacecraft control, motor control, and power systems.
Geometric Control Of Mechanical Systems
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Author : Francesco Bullo
language : en
Publisher: Springer
Release Date : 2019-06-12
Geometric Control Of Mechanical Systems 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 2019-06-12 with Science categories.
The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry. The book contains extensive examples and exercises, and will be suitable for a growing number of courses in this area. It begins with the detailed mathematical background, proceeding through innovative approaches to physical modeling, analysis, and design techniques. Numerous examples illustrate the proposed methods and results, while the many exercises test basic knowledge and introduce topics not covered in the main body of the text. The audience of this book consists of two groups. The first group is comprised of graduate students in engineering or mathematical sciences who wish to learn the basics of geometric mechanics, nonlinear control theory, and control theory for mechanical systems. Readers will be able to immediately begin exploring the research literature on these subjects. The second group consists of researchers in mechanics and control theory. Nonlinear control theoreticians will find explicit links between concepts in geometric mechanics and nonlinear control theory. Researchers in mechanics will find an overview of topics in control theory that have relevance to mechanics.
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
Model Based Tracking Control Of Nonlinear Systems
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Author : Elzbieta Jarzebowska
language : en
Publisher: CRC Press
Release Date : 2016-04-19
Model Based Tracking Control Of Nonlinear Systems written by Elzbieta Jarzebowska and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-04-19 with Mathematics categories.
Model-Based Control of Nonlinear Systems presents model-based control techniques for nonlinear, constrained systems. It covers constructive control design methods with an emphasis on modeling constrained systems, generating dynamic control models, and designing tracking control algorithms for the models.The book's interdisciplinary approach illustr
Analytical Mechanics A Comprehensive Treatise On The Dynamics Of Constrained Systems Reprint Edition
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Author : John G Papastavridis
language : en
Publisher: World Scientific
Release Date : 2014-03-06
Analytical Mechanics A Comprehensive Treatise On The Dynamics Of Constrained Systems Reprint Edition written by John G Papastavridis and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-03-06 with Mathematics categories.
This is a comprehensive, state-of-the-art, treatise on the energetic mechanics of Lagrange and Hamilton, that is, classical analytical dynamics, and its principal applications to constrained systems (contact, rolling, and servoconstraints). It is a book on advanced dynamics from a unified viewpoint, namely, the kinetic principle of virtual work, or principle of Lagrange. As such, it continues, renovates, and expands the grand tradition laid by such mechanics masters as Appell, Maggi, Whittaker, Heun, Hamel, Chetaev, Synge, Pars, Luré, Gantmacher, Neimark, and Fufaev. Many completely solved examples complement the theory, along with many problems (all of the latter with their answers and many of them with hints). Although written at an advanced level, the topics covered in this 1400-page volume (the most extensive ever written on analytical mechanics) are eminently readable and inclusive. It is of interest to engineers, physicists, and mathematicians; advanced undergraduate and graduate students and teachers; researchers and professionals; all will find this encyclopedic work an extraordinary asset; for classroom use or self-study. In this edition, corrections (of the original edition, 2002) have been incorporated.
Advanced Topics In Nonlinear Control Systems
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Author : T. P. Leung
language : en
Publisher: World Scientific
Release Date : 2001
Advanced Topics In Nonlinear Control Systems written by T. P. Leung and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001 with Technology & Engineering categories.
Over the last 50 years or so, a number of textbooks, monographs and even popular books have been published on nonlinear control theory and design methods. In the area of classical control, for example, there exist books concerned with phase-plane analysis, describing function approach, absolute stability and so on. In the area of modern control there are those related to optimal control, using differential geometry and the differential algebra method, variable structural control, H-infinite control and so on. These books have been useful in promoting the development of automatic control science and technology. Since 1990 there have been many new results and contributions in the area of nonlinear control. This book introduces those topics to interested readers. It will also benefit automation engineers, researchers and scholars in related fields.
Analytical Mechanics Of Space Systems
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Author : Hanspeter Schaub
language : en
Publisher: AIAA
Release Date : 2003
Analytical Mechanics Of Space Systems written by Hanspeter Schaub and has been published by AIAA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003 with Celestial mechanics categories.
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.