Lyapunov-Based Control of Mechanical Systems

Lyapunov-Based Control of Mechanical Systems
Author: Marcio S. de Queiroz
Publisher: Springer Science & Business Media
Total Pages: 321
Release: 2012-12-06
Genre: Technology & Engineering
ISBN: 1461213525

The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades. From a theoretical point of view, this attention can be attributed to their interesting dynamic behavior, which makes them suitable benchmarks for nonlinear control the oreticians. On the other hand, recent technological advances have produced many real-world engineering applications that require the automatic con trol of mechanical systems. the mechanism for de Often, Lyapunov-based techniques are utilized as veloping different nonlinear control structures for mechanical systems. The allure of the Lyapunov-based framework for mechanical system control de sign can most likely be assigned to the fact that Lyapunov function candi dates can often be crafted from physical insight into the mechanics of the system. That is, despite the nonlinearities, couplings, and/or the flexible effects associated with the system, Lyapunov-based techniques can often be used to analyze the stability of the closed-loop system by using an energy like function as the Lyapunov function candidate. In practice, the design procedure often tends to be an iterative process that results in the death of many trees. That is, the controller and energy-like function are often constructed in concert to foster an advantageous stability property and/or robustness property. Fortunately, over the last 15 years, many system the ory and control researchers have labored in this area to produce various design tools that can be applied in a variety of situations.

Nonlinear Control of Engineering Systems

Nonlinear Control of Engineering Systems
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.

Nonlinear Dynamical Systems and Control

Nonlinear Dynamical Systems and Control
Author: Wassim M. Haddad
Publisher: Princeton University Press
Total Pages: 975
Release: 2011-09-19
Genre: Mathematics
ISBN: 1400841046

Nonlinear Dynamical Systems and Control presents and develops an extensive treatment of stability analysis and control design of nonlinear dynamical systems, with an emphasis on Lyapunov-based methods. Dynamical system theory lies at the heart of mathematical sciences and engineering. The application of dynamical systems has crossed interdisciplinary boundaries from chemistry to biochemistry to chemical kinetics, from medicine to biology to population genetics, from economics to sociology to psychology, and from physics to mechanics to engineering. The increasingly complex nature of engineering systems requiring feedback control to obtain a desired system behavior also gives rise to dynamical systems. Wassim Haddad and VijaySekhar Chellaboina provide an exhaustive treatment of nonlinear systems theory and control using the highest standards of exposition and rigor. This graduate-level textbook goes well beyond standard treatments by developing Lyapunov stability theory, partial stability, boundedness, input-to-state stability, input-output stability, finite-time stability, semistability, stability of sets and periodic orbits, and stability theorems via vector Lyapunov functions. A complete and thorough treatment of dissipativity theory, absolute stability theory, stability of feedback systems, optimal control, disturbance rejection control, and robust control for nonlinear dynamical systems is also given. This book is an indispensable resource for applied mathematicians, dynamical systems theorists, control theorists, and engineers.

Lyapunov-Based Control of Robotic Systems

Lyapunov-Based Control of Robotic Systems
Author: Aman Behal
Publisher: CRC Press
Total Pages: 392
Release: 2009-12-17
Genre: Computers
ISBN: 1000654435

Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov's direc

Non-linear Control for Underactuated Mechanical Systems

Non-linear Control for Underactuated Mechanical Systems
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.

Lyapunov-Based Control of Robotic Systems

Lyapunov-Based Control of Robotic Systems
Author: Aman Behal
Publisher: CRC Press
Total Pages: 390
Release: 2009-12-17
Genre: Computers
ISBN: 1420006274

Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov's direc

Reinforcement Learning for Optimal Feedback Control

Reinforcement Learning for Optimal Feedback Control
Author: Rushikesh Kamalapurkar
Publisher: Springer
Total Pages: 305
Release: 2018-05-10
Genre: Technology & Engineering
ISBN: 331978384X

Reinforcement Learning for Optimal Feedback Control develops model-based and data-driven reinforcement learning methods for solving optimal control problems in nonlinear deterministic dynamical systems. In order to achieve learning under uncertainty, data-driven methods for identifying system models in real-time are also developed. The book illustrates the advantages gained from the use of a model and the use of previous experience in the form of recorded data through simulations and experiments. The book’s focus on deterministic systems allows for an in-depth Lyapunov-based analysis of the performance of the methods described during the learning phase and during execution. To yield an approximate optimal controller, the authors focus on theories and methods that fall under the umbrella of actor–critic methods for machine learning. They concentrate on establishing stability during the learning phase and the execution phase, and adaptive model-based and data-driven reinforcement learning, to assist readers in the learning process, which typically relies on instantaneous input-output measurements. This monograph provides academic researchers with backgrounds in diverse disciplines from aerospace engineering to computer science, who are interested in optimal reinforcement learning functional analysis and functional approximation theory, with a good introduction to the use of model-based methods. The thorough treatment of an advanced treatment to control will also interest practitioners working in the chemical-process and power-supply industry.

Lyapunov Matrix Equation in System Stability and Control

Lyapunov Matrix Equation in System Stability and Control
Author: Zoran Gajic
Publisher: Courier Corporation
Total Pages: 274
Release: 2008-01-01
Genre: Mathematics
ISBN: 048646668X

This comprehensive treatment provides solutions to many engineering and mathematical problems related to the Lyapunov matrix equation, with self-contained chapters for easy reference. The authors offer a wide variety of techniques for solving and analyzing the algebraic, differential, and difference Lyapunov matrix equations of continuous-time and discrete-time systems. 1995 edition.

Geometric Control of Mechanical Systems

Geometric Control of 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.

Mechatronic Control of Distributed Noise and Vibration

Mechatronic Control of Distributed Noise and Vibration
Author: Christopher D. Rahn
Publisher: Springer Science & Business Media
Total Pages: 236
Release: 2001-06-26
Genre: Technology & Engineering
ISBN: 9783540418597

Vibration and noise reduce the perceived quality, productivity, and efficiency of many and limit production speeds electromechanical systems. Vibration can cause defects during manufacturing and produce premature failure of finished products due to fa tigue. Potential contact with a vibrating system or hearing darnage from a noisy machine can produce a dangerous, unhealthy, and uncomfortable operating environ ment. Recent advances in computer technology have allowed the development of so phisticated electromechanical systems for the control of vibration and noise. The demanding specifications of many modern systems require higher performance than possible with the traditional, purely mechanical approaches of increasing system stiff ness or damping. Mechatronic systems that integrate computer software and hard ware with electromechanical sensors and actuators to control complex mechanical systems have been demonstrated to provide outstanding vibration and noise reduc tion. The current trends toward higher speed computation and lower cost, higher performance sensors and actuators indicate the continuing possibilities for this con trol approach in future applications.