Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems

Author: Shubhobrata Rudra
Publisher: Springer
ISBN: 9789811019562
Release Date: 2016-09-20
Genre: Technology & Engineering

This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.

Motion Control of Underactuated Mechanical Systems

Author: Javier Moreno-Valenzuela
Publisher: Springer
ISBN: 9783319583198
Release Date: 2017-07-11
Genre: Technology & Engineering

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.

Stability and Stabilization of Linear Systems with Saturating Actuators

Author: Sophie Tarbouriech
Publisher: Springer Science & Business Media
ISBN: 0857299417
Release Date: 2011-08-13
Genre: Technology & Engineering

This monograph details basic concepts and tools fundamental for the analysis and synthesis of linear systems subject to actuator saturation and developments in recent research. The authors use a state-space approach and focus on stability analysis and the synthesis of stabilizing control laws in both local and global contexts. Different methods of modeling the saturation and behavior of the nonlinear closed-loop system are given special attention. Various kinds of Lyapunov functions are considered to present different stability conditions. Results arising from uncertain systems and treating performance in the presence of saturation are given. The text proposes methods and algorithms, based on the use of linear programming and linear matrix inequalities, for computing estimates of the basin of attraction and for designing control systems accounting for the control bounds and the possibility of saturation. They can be easily implemented with mathematical software packages.

Passivity based Control of Euler Lagrange Systems

Author: Romeo Ortega
Publisher: Springer Science & Business Media
ISBN: 1852330163
Release Date: 1998-09-16
Genre: Technology & Engineering

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.

Nonlinear Control of Vehicles and Robots

Author: Béla Lantos
Publisher: Springer Science & Business Media
ISBN: 1849961220
Release Date: 2010-12-01
Genre: Technology & Engineering

Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.

Nonlinear and adaptive control design

Author: Miroslav Krstić
Publisher: Wiley-Interscience
ISBN: UOM:39076001784714
Release Date: 1995-06-14
Genre: Computers

Using a pedagogical style along with detailed proofs and illustrative examples, this book opens a view to the largely unexplored area of nonlinear systems with uncertainties. The focus is on adaptive nonlinear control results introduced with the new recursive design methodology--adaptive backstepping. Describes basic tools for nonadaptive backstepping design with state and output feedbacks.

Non linear Control for Underactuated Mechanical Systems

Author: Isabelle Fantoni
Publisher: Springer Science & Business Media
ISBN: 9781447101772
Release Date: 2012-12-06
Genre: Technology & Engineering

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.

The Reaction Wheel Pendulum

Author: Daniel Jerome Block
Publisher: Morgan & Claypool Publishers
ISBN: 9781598291940
Release Date: 2007
Genre: Technology & Engineering

This monograph is concerned with modeling and control of a novel inverted pendulum device known as the Reaction Wheel Pendulum. The Reaction Wheel Pendulum is perhaps the simplest of the various pendulum systems in terms of its dynamic properties. At the same time, the Reaction Wheel Pendulum exhibits several properties, such as underactuation and nonlinearity that make it an attractive and useful system for research and advanced education. As such, the Reaction Wheel Pendulum is ideally suited for educating engineering students at virtually every level, from freshman to advanced graduate students.

Handbook of Marine Craft Hydrodynamics and Motion Control

Author: Thor I. Fossen
Publisher: John Wiley & Sons
ISBN: 1119998689
Release Date: 2011-05-23
Genre: Science

The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed. Key features include: a three-part structure covering Modeling of Marine Craft; Guidance, Navigation and Control Systems; and Appendices, providing all the supporting theory in a single resource kinematics, kinetics, hydrostatics, seakeeping and maneuvering theory, and simulation models for marine craft and environmental forces guidance systems, sensor fusion and integrated navigation systems, inertial measurement units, Kalman filtering and nonlinear observer design for marine craft state-of-the-art methods for feedback control more advanced methods using nonlinear theory, enabling the user to compare linear design techniques before a final implementation is made. linear and nonlinear stability theory, and numerical methods companion website that hosts links to lecture notes and download information for the Marine Systems Simulator (MSS) which is an open source Matlab/Simulink® toolbox for marine systems. The MSS toolbox includes hydrodynamic models and motion control systems for ships, underwater vehicles and floating structures With an appropriate balance between mathematical theory and practical applications, academic and industrial researchers working in marine and control engineering aspects of manned and unmanned maritime vehicles will benefit from this comprehensive handbook. It is also suitable for final year undergraduates and postgraduates, lecturers, development officers, and practitioners in the areas of rigid-body modeling, hydrodynamics, simulation of marine craft, control and estimation theory, decision-support systems and sensor fusion.

Robust Nonlinear Control Design

Author: Randy Freeman
Publisher: Springer Science & Business Media
ISBN: 9780817647582
Release Date: 2008-01-11
Genre: Science

This softcover book summarizes Lyapunov design techniques for nonlinear systems and raises important issues concerning large-signal robustness and performance. The authors have been the first to address some of these issues, and they report their findings in this text. The researcher who wishes to enter the field of robust nonlinear control could use this book as a source of new research topics. For those already active in the field, the book may serve as a reference to a recent body of significant work. Finally, the design engineer faced with a nonlinear control problem will benefit from the techniques presented here.

Research Methodology

Author: Ranjit Kumar
Publisher: SAGE
ISBN: 9781446297827
Release Date: 2014-01-14
Genre: Social Science

Lecturers - request an e-inspection copy of this text or contact your local SAGE representative to discuss your course needs. Research Methodology: A Step by Step Guide for Beginners has been written specifically for those with no previous experience of research or research methodology. Written in a logical and accessible style and providing helpful techniques and examples, it breaks the process of designing and doing a research project into eight manageable operational steps. The book guides you through your project from beginning to end by offering practical advice on: formulating a research question ethical considerations carrying out a literature review choosing a research design selecting a sample collecting and analysing qualitative and quantitative data writing a research report. The book is essential reading for undergraduate and postgraduate students in the social sciences embarking on quantitative or qualitative research projects. Available with Perusall—an eBook that makes it easier to prepare for class Perusall is an award-winning eBook platform featuring social annotation tools that allow students and instructors to collaboratively mark up and discuss their SAGE textbook. Backed by research and supported by technological innovations developed at Harvard University, this process of learning through collaborative annotation keeps your students engaged and makes teaching easier and more effective. Learn more.

Nonsmooth Mechanics

Author: Bernard Brogliato
Publisher: Springer
ISBN: 9783319286648
Release Date: 2016-02-29
Genre: Technology & Engineering

Now in its third edition, this standard reference is a comprehensive treatment of nonsmooth mechanical systems refocused to give more prominence to issues connected with control and modelling. It covers Lagrangian and Newton–Euler systems, detailing mathematical tools such as convex analysis and complementarity theory. The ways in which nonsmooth mechanics influence and are influenced by well-posedness analysis, numerical analysis and simulation, modelling and control are explained. Contact/impact laws, stability theory and trajectory-tracking control are given detailed exposition connected by a mathematical framework formed from complementarity systems and measure-differential inclusions. Links are established with electrical circuits with set-valued nonsmooth elements as well as with other nonsmooth dynamical systems like impulsive and piecewise linear systems. Nonsmooth Mechanics (third edition) retains the topical structure familiar from its predecessors but has been substantially rewritten, edited and updated to account for the significant body of results that have emerged in the twenty-first century—including developments in: the existence and uniqueness of solutions; impact models; extension of the Lagrange–Dirichlet theorem and trajectory tracking; and well-posedness of contact complementarity problems with and without friction. Many figures (both new and redrawn to improve the clarity of the presentation) and examples are used to illustrate the theoretical developments. Material introducing the mathematics of nonsmooth mechanics has been improved to reflect the broad range of applications interest that has developed since publication of the second edition. The detail of some mathematical essentials is provided in four appendices. With its improved bibliography of over 1,300 references and wide-ranging coverage, Nonsmooth Mechanics (third edition) is sure to be an invaluable resource for researchers and postgraduates studying the control of mechanical systems, robotics, granular matter and relevant fields of applied mathematics. “The book’s two best features, in my view are its detailed survey of the literature... and its detailed presentation of many examples illustrating both the techniques and their limitations... For readers interested in the field, this book will serve as an excellent introductory survey.” Andrew Lewis in Automatica “It is written with clarity, contains the latest research results in the area of impact problems for rigid bodies and is recommended for both applied mathematicians and engineers.” Panagiotis D. Panagiotopoulos in Mathematical Reviews “The presentation is excellent in combining rigorous mathematics with a great number of examples... allowing the reader to understand the basic concepts.” Hans Troger in Mathematical Abstracts “/i>

Geometric Control of Mechanical Systems

Author: Francesco Bullo
Publisher: Springer Science & Business Media
ISBN: 0387221956
Release Date: 2004-11-04
Genre: Science

The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.