Passivity Based Control Of Euler Lagrange Systems
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Passivity Based Control Of Euler Lagrange Systems
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Author : Romeo Ortega
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-06-29
Passivity Based Control Of Euler Lagrange Systems written by Romeo Ortega 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.
The essence of this work is the control of electromechanical systems, such as manipulators, electric machines, and power converters. The common thread that links together the results presented here is the passivity property, which is at present in numerous electrical and mechanical systems, and which has great relevance in control engineering at this time. Amongst other topics, the authors cover: Euler-Lagrange Systems, Mechanical Systems, Generalised AC Motors, Induction Motor Control, Robots with AC Drives, and Perspectives and Open Problems. The authors have extensive experience of research and application in the field of control of electromechanical systems, which they have summarised here in this self-contained volume. While written in a strictly mathematical way, it is also elementary, and will be accessible to a wide-ranging audience, including graduate students as well as practitioners and researchers in this field.
Passivity Based Control Of Euler Lagrange Systems
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Author : Romeo Ortega
language : en
Publisher: Springer
Release Date : 2014-03-12
Passivity Based Control Of Euler Lagrange Systems written by Romeo Ortega and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-03-12 with Technology & Engineering categories.
The essence of this work is the control of electromechanical systems, such as manipulators, electric machines, and power converters. The common thread that links together the results presented here is the passivity property, which is at present in numerous electrical and mechanical systems, and which has great relevance in control engineering at this time. Amongst other topics, the authors cover: Euler-Lagrange Systems, Mechanical Systems, Generalised AC Motors, Induction Motor Control, Robots with AC Drives, and Perspectives and Open Problems. The authors have extensive experience of research and application in the field of control of electromechanical systems, which they have summarised here in this self-contained volume. While written in a strictly mathematical way, it is also elementary, and will be accessible to a wide-ranging audience, including graduate students as well as practitioners and researchers in this field.
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.
Advances In The Control Of Nonlinear Systems
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Author : Alfonso Banos
language : en
Publisher: Springer Science & Business Media
Release Date : 2001-02-19
Advances In The Control Of Nonlinear Systems written by Alfonso Banos 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 2001-02-19 with Mathematics categories.
This volume is based on the course notes of the 2nd NCN Pedagogical School, the second in the series of Pedagogical Schools in the frame work of the European TMR project, "Breakthrough in the control of nonlinear systems (Nonlinear Control Network)". The school consists of four courses that have been chosen to give a broad range of techniques for the analysis and synthesis of nonlinear control systems, and have been developed by leading experts in the field. The topics covered are: Differential Algebraic Methods in Nonlinear Systems; Nonlinear QFT; Hybrid Systems; Physics in Control. The book has a pedagogical character, and is specially directed to postgraduates in most areas of engineering and applied sciences like mathematics and physics. It will also be of interest to researchers and practitioners needing a solid introduction to the above topics.
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 Technology & Engineering 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.
Stability Enhancement Methods Of Inverters Based On Lyapunov Function Predictive Control And Reinforcement Learning
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Author : Xin Zhang
language : en
Publisher: Springer Nature
Release Date : 2022-11-29
Stability Enhancement Methods Of Inverters Based On Lyapunov Function Predictive Control And Reinforcement Learning written by Xin Zhang and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-11-29 with Technology & Engineering categories.
This book introduces a family of large-signal stability-based control methods for different power inverters (grid-connected inverter, standalone inverter, single-phase inverter, and three-phase inverter) in practical applications. Power inverters have stability issues, which include the inverter's own instability as well as the inverter's instability in relation to the other power electronic devices in the system (i.e., weak grid and the EMI filter). Most of the stability analyses and solutions are based on small-signal stability technology. Unfortunately, in actuality, the majority of practical instability concerns in power inverter systems are large-signal stability problems, which, when compared to small-signal stability problems, can cause substantial damage to electrical equipment. As a result, researchers must conduct a comprehensive investigation of the large-signal stability challenge and solutions for power inverters. This book can be used as a reference for researchers, power inverters manufacturers, and end-users. As a result, the book will not become obsolete in the near future, regardless of technology advancements.
Passivity Based Control And Estimation In Networked Robotics
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Author : Takeshi Hatanaka
language : en
Publisher: Springer
Release Date : 2015-04-10
Passivity Based Control And Estimation In Networked Robotics written by Takeshi Hatanaka and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-04-10 with Technology & Engineering categories.
Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques, the authors provide experimental case studies on testbeds of robotic systems including networked haptic devices, visual robotic systems, robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity’s usefulness for visual feedback control and estimation. Convergence is rigorously proved even when other passive components are interconnected. The passivity approach is also differentiated from other methodologies. The third part presents the unified passivity-based control-design methodology for multi-agent systems. This scheme is shown to be either immediately applicable or easily extendable to the solution of various motion coordination problems including 3-D attitude/pose synchronization, flocking control and cooperative motion estimation. Academic researchers and practitioners working in systems and control and/or robotics will appreciate the potential of the elegant and novel approach to the control of networked robots presented here. The limited background required and the case-study work described also make the text appropriate for and, it is hoped, inspiring to students.
Kinematic Control Of Redundant Robot Arms Using Neural Networks
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Author : Shuai Li
language : en
Publisher: John Wiley & Sons
Release Date : 2019-02-11
Kinematic Control Of Redundant Robot Arms Using Neural Networks written by Shuai Li 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 2019-02-11 with Technology & Engineering categories.
Presents pioneering and comprehensive work on engaging movement in robotic arms, with a specific focus on neural networks This book presents and investigates different methods and schemes for the control of robotic arms whilst exploring the field from all angles. On a more specific level, it deals with the dynamic-neural-network based kinematic control of redundant robot arms by using theoretical tools and simulations. Kinematic Control of Redundant Robot Arms Using Neural Networks is divided into three parts: Neural Networks for Serial Robot Arm Control; Neural Networks for Parallel Robot Control; and Neural Networks for Cooperative Control. The book starts by covering zeroing neural networks for control, and follows up with chapters on adaptive dynamic programming neural networks for control; projection neural networks for robot arm control; and neural learning and control co-design for robot arm control. Next, it looks at robust neural controller design for robot arm control and teaches readers how to use neural networks to avoid robot singularity. It then instructs on neural network based Stewart platform control and neural network based learning and control co-design for Stewart platform control. The book finishes with a section on zeroing neural networks for robot arm motion generation. Provides comprehensive understanding on robot arm control aided with neural networks Presents neural network-based control techniques for single robot arms, parallel robot arms (Stewart platforms), and cooperative robot arms Provides a comparison of, and the advantages of, using neural networks for control purposes rather than traditional control based methods Includes simulation and modelling tasks (e.g., MATLAB) for onward application for research and engineering development By focusing on robot arm control aided by neural networks whilst examining central topics surrounding the field, Kinematic Control of Redundant Robot Arms Using Neural Networks is an excellent book for graduate students and academic and industrial researchers studying neural dynamics, neural networks, analog and digital circuits, mechatronics, and mechanical engineering.
Control Of Interactive Robotic Interfaces
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Author : Cristian Secchi
language : en
Publisher: Springer
Release Date : 2007-04-16
Control Of Interactive Robotic Interfaces written by Cristian Secchi and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-04-16 with Technology & Engineering categories.
This monograph deals with energy based control of interactive robotic interfaces. The port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. The book provides an energy oriented analysis and control synthesis of interactive robotic interfaces, from a single robot to multi-robot systems for interacting with real and virtual, possibly unstructured, environments.
Modelling And Control Of Mechanical Systems Proceedings Of The Workshop
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Author : Alessandro Astolfi
language : en
Publisher: World Scientific
Release Date : 1997-06-01
Modelling And Control Of Mechanical Systems Proceedings Of The Workshop written by Alessandro Astolfi and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997-06-01 with Technology & Engineering categories.
This volume provides a general picture of the current trends in the area of automatic control, with particular emphasis on practical problems in the mechanical field. For this reason, besides theoretical contributions, it presents selected lectures on recent developments interesting from an industrial point of view, such as automotive, robotics, motion control, and electrical drives./a