Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems, Rudra
Автор: Fantoni Isabelle, Lozano Rogelio Название: Non-linear Control for Underactuated Mechanical Systems ISBN: 1852334231 ISBN-13(EAN): 9781852334239 Издательство: Springer Цена: 19629 р. Наличие на складе: Поставка под заказ.
Описание: 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 modelIn every case the model is obtained in detail using either the Euler-Lagrange formulation or the Newton's second law. We develop control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques. This book will be of great value 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.
Описание: Deals with the theory and practice of Quantitative Feedback Theory (QFT). This book presents feedback synthesis techniques for single-input single-output, multi-input multi-output linear time-invariant and nonlinear plants based on the QFT method.
Описание: Modern aerospace, automotive, nautical, industrial, microsystem-assembly and robotic systems are becoming more and more complex. High-performance vehicles no longer have built-in error safety margins, but are inherently unstable by design to allow for more flexible maneuvering options. With the push towards better performance in terms of greater accuracy and faster speed of response, control demands are increasing. The combination of highly nonlinear dynamics, relaxed static stability, and tight performance specifications places increasing demands on the design of feedback systems for control. Current control system design techniques have difficulty in meeting these demands.
Автор: Banavar Ravi N., Sankaranarayanan Velupillai Название: Switched Finite Time Control of a Class of Underactuated Systems ISBN: 3540327991 ISBN-13(EAN): 9783540327998 Издательство: Springer Рейтинг: Цена: 13859 р. Наличие на складе: Поставка под заказ.
Описание: The control of mechanical systems with constraints has been a topic of intense research in the control and dynamical systems community for the past two decades. In particular, systems with velocity and/or acceleration level constraints which appear in many applications like - robotics, spacecrafts, launch vehicles, underwater vehicles - have been studied intensively. This monograph is a self-contained exposition on a switched, finite-time, control strategy for this class of systems. Beginning with basic definitions and mathematical preliminaries, the monograph works its way up to the main control algorithm. Three well-studied applications are chosen to demonstrate the algorithm. Other facets of the algorithm and an alternate algorithm are also briefly touched upon. This book resents a switched finite time control philosophy to stabilize a class of underactuated systems. Beginning with basic definitions and mathematical preliminaries, the monograph works its way up to the main control algorithm. Three well-studied applications are chosen to demonstrate the algorithm. Other facets of the algorithm and an alternate algorithm are also briefly touched upon.
Автор: Zhou Название: Adaptive Backstepping Control of Uncertain Systems ISBN: 3540778063 ISBN-13(EAN): 9783540778066 Издательство: Springer Рейтинг: Цена: 14032 р. Наличие на складе: Поставка под заказ.
Описание: This book employs the powerful and popular adaptive backstepping control technology to design controllers for dynamic uncertain systems with non-smooth nonlinearities. Various cases including systems with time-varying parameters, multi-inputs and multi-outputs, backlash, dead-zone, hysteresis and saturation are considered in design and analysis. For multi-inputs and multi-outputs systems, both centralized and decentralized controls are addressed. This book not only presents recent research results including theoretical success and practical development such as the proof of system stability and the improvement of system tracking and transient performance, but also gives self-contained coverage of fundamentals on the backstepping approach illustrated with simple examples. Detail description of methodologies for the construction of adaptive laws, feedback control laws and associated Lyapunov functions is systematically provided in each case. Approaches used for the analysis of system stability and tracking and transient performances are elaborated. Two case studies are presented to show how the presented theories are applied.
Описание: This unique book presents an analytical uniform design methodology of continuous-time or discrete-time nonlinear control system design which guarantees
desired transient performances in the presence of plant parameter variations and unknown external disturbances. All results are illustrated with numerical simulations, their practical
importance is highlighted, and they may be used for real-time control system design in robotics, mechatronics, chemical reactors, electrical and electro-mechanical systems as well as
aircraft control systems. The book is easy reading and is suitable for teaching.
Автор: Stefani, Raymond T. Shahian, Bahram Savant, Clemen Название: Design of feedback control systems ISBN: 0195142497 ISBN-13(EAN): 9780195142495 Издательство: Oxford Academ Рейтинг: Цена: 23965 р. Наличие на складе: Поставка под заказ.
Описание: Written with the student in mind, this text thoroughly introduces the meaning of control systems and how they are organized. The 4th edition is keyed to MATLAB so students may verify all the numerical results.
Автор: Astrom, Karl J. Murray, Richard M. Название: Feedback systems ISBN: 0691135762 ISBN-13(EAN): 9780691135762 Издательство: Wiley Рейтинг: Цена: 10175 р. Наличие на складе: Поставка под заказ.
Описание: Offers an introduction to the mathematics needed to model, analyze, and design feedback systems. This book covers the mathematics needed to model, analyze, and design feedback systems. It is suitable as an introductory textbook for students and a self-contained resource for researchers.
Описание: The time delays in controllers and actuators can either deteriorate or improve the dynamic performance of a controlled mechanical system. Thus, it is desirable to gain an insight into the effect of time delays on the dynamics of a practical system in its design phase. This monograph represents the recent advances in system modeling, analysis of stability, robust stability and bifurcation by using some new mathematical tools such as generalized Sturm criterion and Dixon's resultant elimination of polynomials. The theoretical results are demonstrated through a number of examples of active vehicle chassis, structure control, as well as the control of chaos of mechanical systems.
Описание: Many crucial problems of nonlinear classical control theory are not considered or do not find their proper engineering interpretation in the existing books on multivariable control. The goal of this textbook is to bridge that gap and to provide a holistic approach to multivariable control theory, providing a unification of control theory of linear and nonlinear multivariable feedback systems (or multi-input multi-output [MIMO] systems) as a straightforward extension of the classical control theory. The central idea of the book is to show how the classical (frequency-domain and root) engineering methods look in a multidimensional case, and how a practicing engineer or researcher can apply them to the analysis and design of linear and nonlinear MIMO systems. All theoretical statements of the book are illustrated by numerous worked examples of different practical MIMO systems. The numerical calculations are accomplished with the help of MATLAB. The book includes problems, exercises, and questions on all the main themes.
Автор: Abramovici Название: Feedback Control Systems ISBN: 0792379357 ISBN-13(EAN): 9780792379355 Издательство: Springer Рейтинг: Цена: 18349 р. Наличие на складе: Поставка под заказ.
Описание: A reference tool for electrical, mechanical and aerospace engineers who are developing or improving products, with a need to use feedback control systems. It provides the reader with a method for designing control systems using several sensors or actuators.
Описание: Describing control theory, this book focuses on simple rules, tools and methods for the analysis and testing of feedback control systems using real systems engineering design and development examples. It provides the engineer and graduate with the know-how necessary to minimize problems with fielded systems in the area of operational performance.
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