Motion Control Of Underactuated Mechanical Systems

Author : Javier Moreno-Valenzuela,Carlos Aguilar-Avelar
Publisher : Springer
Page : 223 pages
File Size : 47,5 Mb
Release : 2017-07-11
Category : Technology & Engineering
ISBN : 9783319583198

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Motion Control of Underactuated Mechanical Systems by Javier Moreno-Valenzuela,Carlos Aguilar-Avelar Pdf

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,Rogelio Lozano
Publisher : Springer Science & Business Media
Page : 295 pages
File Size : 42,5 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781447101772

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Non-linear Control for Underactuated Mechanical Systems by Isabelle Fantoni,Rogelio Lozano Pdf

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 : Tarik Uzunović,Asif Šabanović
Publisher : CRC Press
Page : 153 pages
File Size : 47,9 Mb
Release : 2020-01-27
Category : Technology & Engineering
ISBN : 9780429558955

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Motion Control of Functionally Related Systems by Tarik Uzunović,Asif Šabanović Pdf

This book is concerned with the development of design techniques for controlling motion of mechanical systems which are employed to execute certain tasks acting collaboratively. The book introduces unified control design procedure for functionally related systems. The controllers for many different tasks in motion control can be successfully designed by applying the proposed simple procedure. The book gives an overview of the control methods appearing in the motion control area and the detailed design procedures for the class of systems that are required to execute certain task together. Tasks can generally be divided in their components, denoted as functions in the book. It is shown how dynamics of those tasks can be described. Based on the presented description, several control methods were discussed. Applicability of the introduced control design approach was demonstrated in subsequent chapters for various tasks.

Author : An-Chyau Huang,Yung-Feng Chen,Chen-Yu Kai
Publisher : World Scientific
Page : 228 pages
File Size : 46,5 Mb
Release : 2015-01-29
Category : Technology & Engineering
ISBN : 9789814663564

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Adaptive Control of Underactuated Mechanical Systems by An-Chyau Huang,Yung-Feng Chen,Chen-Yu Kai Pdf

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. Contents:IntroductionPreliminariesUnderactuated System Dynamics and Coordinate TransformationController DesignCart Pole SystemOverhead CranesTORA SystemRotary Inverted PendulumVibration AbsorberPendubotBibliographyIndex Readership: Graduate students, researchers, and academics in control engineering, mechanical engineering, electrical & electronic engineering, and optimization and control theory. Keywords:Adaptive Control;Underactuated Systems;Approximation Technique

Author : Asif Sabanovic,Kouhei Ohnishi
Publisher : John Wiley & Sons
Page : 337 pages
File Size : 45,9 Mb
Release : 2011-03-10
Category : Science
ISBN : 9780470828298

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Motion Control Systems by Asif Sabanovic,Kouhei Ohnishi Pdf

Motion Control Systems is concerned with design methods that support the never-ending requirements for faster and more accurate control of mechanical motion. The book presents material that is fundamental, yet at the same time discusses the solution of complex problems in motion control systems. Methods presented in the book are based on the authors' original research results. Mathematical complexities are kept to a required minimum so that practicing engineers as well as students with a limited background in control may use the book. It is unique in presenting know-how accumulated through work on very diverse problems into a comprehensive unified approach suitable for application in high demanding, high-tech products. Major issues covered include motion control ranging from simple trajectory tracking and force control, to topics related to haptics, bilateral control with and without delay in measurement and control channels, as well as control of nonredundant and redundant multibody systems. Provides a consistent unified theoretical framework for motion control design Offers graduated increase in complexity and reinforcement throughout the book Gives detailed explanation of underlying similarities and specifics in motion control Unified treatment of single degree-of-freedom and multibody systems Explains the fundamentals through implementation examples Based on classroom-tested materials and the authors' original research work Written by the leading researchers in sliding mode control (SMC) and disturbance observer (DOB) Accompanying lecture notes for instructors Simulink and MATLAB® codes available for readers to download Motion Control Systemsis an ideal textbook for a course on motion control or as a reference for post-graduates and researchers in robotics and mechatronics. Researchers and practicing engineers will also find the techniques helpful in designing mechanical motion systems.

Author : Khac Duc Do,Jie Pan
Publisher : Springer Science & Business Media
Page : 402 pages
File Size : 48,7 Mb
Release : 2009-08-09
Category : Technology & Engineering
ISBN : 9781848827301

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Control of Ships and Underwater Vehicles by Khac Duc Do,Jie Pan Pdf

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 : Jundong Wu,Pan Zhang,Qingxin Meng,Yawu Wang
Publisher : Springer Nature
Page : 304 pages
File Size : 54,6 Mb
Release : 2023-05-13
Category : Technology & Engineering
ISBN : 9789819908905

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Control of Underactuated Manipulators by Jundong Wu,Pan Zhang,Qingxin Meng,Yawu Wang Pdf

This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.

Author : Hiroshi Yabuno
Publisher : John Wiley & Sons
Page : 320 pages
File Size : 51,7 Mb
Release : 2021-02-03
Category : Technology & Engineering
ISBN : 9781119066552

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Linear and Nonlinear Instabilities in Mechanical Systems by Hiroshi Yabuno Pdf

LINEAR and NONLINEAR INSTABILITIES in MECHANICAL SYSTEMS An in-depth insight into nonlinear analysis and control As mechanical systems become lighter, faster, and more flexible, various nonlinear instability phenomena can occur in practical systems. The fundamental knowledge of nonlinear analysis and control is essential to engineers for analysing and controlling nonlinear instability phenomena. This book bridges the gap between the mathematical expressions of nonlinear dynamics and the corresponding practical phenomena. Linear and Nonlinear Instabilities in Mechanical Systems: Analysis, Control and Application provides a detailed and informed insight into the fundamental methods for analysis and control for nonlinear instabilities from the practical point of view. Key features: Refers to the behaviours of practical mechanical systems such as aircraft, railway vehicle, robot manipulator, micro/nano sensor Enhances the rigorous and practical understanding of mathematical methods from an engineering point of view The theoretical results obtained by nonlinear analysis are interpreted by using accompanying videos on the real nonlinear behaviors of nonlinear mechanical systems Linear and Nonlinear Instabilities in Mechanical Systems is an essential textbook for students on engineering courses, and can also be used for self-study or reference by engineers.

Author : Alexander M. Formalskii
Publisher : Walter de Gruyter GmbH & Co KG
Page : 255 pages
File Size : 52,7 Mb
Release : 2015-11-13
Category : Science
ISBN : 9783110375893

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Stabilisation and Motion Control of Unstable Objects by Alexander M. Formalskii Pdf

Systems with mechanical degrees of freedom containing unstable objects are analysed in this monograph and algorithms for their control are developed, discussed, and numerically tested. This is achieved by identifying unstable modes of motion and using all available resources to suppress them. By using this approach the region of states from which a stable regime can be reached is maximised. The systems discussed in this book are models for pendula and vehicles and find applications in mechatronics, robotics as well as in mechanical and automotive engineering.

Author : Dianwei Qian,Jianqiang Yi
Publisher : Springer
Page : 199 pages
File Size : 51,9 Mb
Release : 2015-10-15
Category : Technology & Engineering
ISBN : 9783662484173

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Hierarchical Sliding Mode Control for Under-actuated Cranes by Dianwei Qian,Jianqiang Yi Pdf

This book reports on the latest developments in sliding mode overhead crane control, presenting novel research ideas and findings on sliding mode control (SMC), hierarchical SMC and compensator design-based hierarchical sliding mode. The results, which were previously scattered across various journals and conference proceedings, are now presented in a systematic and unified form. The book will be of interest to researchers, engineers and graduate students in control engineering and mechanical engineering who want to learn the methods and applications of SMC.

Author : Jiangshuai Huang,Yong-Duan Song
Publisher : CRC Press
Page : 140 pages
File Size : 44,7 Mb
Release : 2017-12-22
Category : Technology & Engineering
ISBN : 9781351613231

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Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems by Jiangshuai Huang,Yong-Duan Song Pdf

The purpose of the book is to provide an exposition of recently developed adaptive and fault-tolerant control of underactuated nonlinear systems. Underactuated systems are abundant in real life, ranging from landing vehicles to surface ships and underwater vehicles to spacecrafts. For the tracking and stabilization control of underactuated mechanical systems, many methodologies have been proposed. However, a number of important issues deserve further investigation. In response to these issues, four important problems are solved in this book, including control of underactuated nonlinear systems with input saturation, output-feedback control in the presence of parametric uncertainties, fault-tolerant control of underactuated ships with or without actuator redundancy, and adaptive control of multiple underactauted nonlinear systems, including formation control and flocking control of multiple underactuated systems.

Author : Amal Choukchou-Braham,Brahim Cherki,Mohamed Djemaï,Krishna Busawon
Publisher : Springer Science & Business Media
Page : 148 pages
File Size : 44,9 Mb
Release : 2013-11-18
Category : Technology & Engineering
ISBN : 9783319026367

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Analysis and Control of Underactuated Mechanical Systems by Amal Choukchou-Braham,Brahim Cherki,Mohamed Djemaï,Krishna Busawon Pdf

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 : Shubhobrata Rudra,Ranjit Kumar Barai,Madhubanti Maitra
Publisher : Springer
Page : 171 pages
File Size : 49,9 Mb
Release : 2016-09-08
Category : Technology & Engineering
ISBN : 9789811019562

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Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems by Shubhobrata Rudra,Ranjit Kumar Barai,Madhubanti Maitra Pdf

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.

Author : Yang, Yinping
Publisher : KIT Scientific Publishing
Page : 258 pages
File Size : 47,5 Mb
Release : 2017-05-02
Category : Electronic
ISBN : 9783731506263

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Numerical methods for the inverse dynamics simulation of underactuated mechanical systems by Yang, Yinping Pdf

Author : Bruno Siciliano,Kimon P. Valavanis
Publisher : Springer
Page : 298 pages
File Size : 40,8 Mb
Release : 2014-03-12
Category : Technology & Engineering
ISBN : 3662192047

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Control Problems in Robotics and Automation by Bruno Siciliano,Kimon P. Valavanis Pdf

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.