Analysis And Control Of Underactuated Mechanical Systems
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| Author | : Amal Choukchou-Braham |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 148 |
| Release | : 2013-11-18 |
| Genre | : Technology & Engineering |
| ISBN | : 3319026364 |
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
| Author | : Javier Moreno-Valenzuela |
| Publisher | : Springer |
| Total Pages | : 230 |
| Release | : 2017-07-11 |
| Genre | : Technology & Engineering |
| ISBN | : 3319583190 |
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.
| Author | : Isabelle Fantoni |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 302 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1447101774 |
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.
| Author | : An-chyau Huang |
| Publisher | : World Scientific |
| Total Pages | : 229 |
| Release | : 2015-01-29 |
| Genre | : Technology & Engineering |
| ISBN | : 9814663565 |
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.
| Author | : Francesco Bullo |
| Publisher | : Springer |
| Total Pages | : 741 |
| Release | : 2019-06-12 |
| Genre | : Science |
| ISBN | : 1489972765 |
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.
| Author | : Warren E. Dixon |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 410 |
| Release | : 2013-06-29 |
| Genre | : Technology & Engineering |
| ISBN | : 1461200318 |
This practical yet rigorous book provides a 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.
| Author | : Khac Duc Do |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 402 |
| Release | : 2009-08-09 |
| Genre | : Technology & Engineering |
| ISBN | : 184882730X |
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.
| Author | : Bruno Siciliano |
| Publisher | : Springer |
| Total Pages | : 298 |
| Release | : 2014-03-12 |
| Genre | : Technology & Engineering |
| ISBN | : 9783662192047 |
Focusing on the important control problems in state-of-the-art robotics and automation, this volume features invited papers from a workshop held at CDC, San Diego, California. As well as looking at current problems, it aims to identify and discuss challenging issues that are yet to be solved but which will be vital to future research directions. The many topics covered include: automatic control, distributed multi-agent control, multirobots, dexterous hands, flexible manipulators, walking robots, free-floating systems, nonholonomic robots, sensor fusion, fuzzy control, virtual reality, visual servoing, and task synchronization. Control Problems in Robotics and Automation will be of interest to all researchers, scientists and graduate students who wish to broaden their knowledge in robotics and automation and prepare themselves to address and resolve the control problems that will be faced in this field as we enter the twenty-first century.
| Author | : Stephen Campbell |
| Publisher | : Springer |
| Total Pages | : 324 |
| Release | : 2019-06-08 |
| Genre | : Mathematics |
| ISBN | : 3030037185 |
This volume encompasses prototypical, innovative and emerging examples and benchmarks of Differential-Algebraic Equations (DAEs) and their applications, such as electrical networks, chemical reactors, multibody systems, and multiphysics models, to name but a few. Each article begins with an exposition of modelling, explaining whether the model is prototypical and for which applications it is used. This is followed by a mathematical analysis, and if appropriate, a discussion of the numerical aspects including simulation. Additionally, benchmark examples are included throughout the text. Mathematicians, engineers, and other scientists, working in both academia and industry either on differential-algebraic equations and systems or on problems where the tools and insight provided by differential-algebraic equations could be useful, would find this book resourceful.
| Author | : A.Stephen Morse |
| Publisher | : Springer |
| Total Pages | : 296 |
| Release | : 1997 |
| Genre | : Computers |
| ISBN | : |
A logic-based switching controller is one whose subsystems include not only familiar dynamical components such as integrators, summers, gains etc. but event-driven logic and associated switches as well. In such a system the predominantly logical component is the supervisor, mode changer, etc. There has been growing interest in recent years in determining what could be gained from utilising "hybrid" controllers of this type. To this end a workshop was held on Block Island with the aim of bringing together individuals to discuss the research and common interest in the field. This volume not only includes contributions from those who were present at Block Island but also additional material from those who were not. Topics covered include: hybrid dynamical systems, control of hard-bound constrained and nonlinear systems, automotive problems involving switching control and system control in the face of large-scale modeling errors.
