Nonlinear Control And Analytical Mechanics

Author : Harry G. Kwatny,Gilmer Blankenship
Publisher : Springer Science & Business Media
Page : 338 pages
File Size : 47,8 Mb
Release : 2000-09-08
Category : Computers
ISBN : 0817641475

Get Book

Nonlinear Control and Analytical Mechanics by Harry G. Kwatny,Gilmer Blankenship Pdf

During the past decade we have had to confront a series of control design prob lems - involving, primarily, multibody electro-mechanical systems - in which nonlinearity plays an essential role. Fortunately, the geometric theory of non linear control system analysis progressed substantially during the 1980s and 90s, providing crucial conceptual tools that addressed many of our needs. However, as any control systems engineer can attest, issues of modeling, computation, and implementation quickly become the dominant concerns in practice. The prob lems of interest to us present unique challenges because of the need to build and manipulate complex mathematical models for both the plant and controller. As a result, along with colleagues and students, we set out to develop computer algebra tools to facilitate model building, nonlinear control system design, and code generation, the latter for both numerical simulation and real time con an outgrowth of that continuing effort. As trol implementation. This book is a result, the unique features of the book includes an integrated treatment of nonlinear control and analytical mechanics and a set of symbolic computing software tools for modeling and control system design. By simultaneously considering both mechanics and control we achieve a fuller appreciation of the underlying geometric ideas and constructions that are common to both. Control theory has had a fruitful association with analytical mechanics from its birth in the late 19th century.

Author : A.M. Bloch
Publisher : Springer
Page : 565 pages
File Size : 49,7 Mb
Release : 2015-11-05
Category : Science
ISBN : 9781493930173

Get Book

Nonholonomic Mechanics and Control by A.M. Bloch Pdf

This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.

Author : Elzbieta Jarzebowska
Publisher : CRC Press
Page : 316 pages
File Size : 40,8 Mb
Release : 2016-04-19
Category : Mathematics
ISBN : 9781439819821

Get Book

Model-Based Tracking Control of Nonlinear Systems by Elzbieta Jarzebowska Pdf

Model-Based Control of Nonlinear Systems presents model-based control techniques for nonlinear, constrained systems. It covers constructive control design methods with an emphasis on modeling constrained systems, generating dynamic control models, and designing tracking control algorithms for the models.The book's interdisciplinary approach illustr

Author : A.M. Bloch
Publisher : Unknown
Page : 128 pages
File Size : 54,6 Mb
Release : 2015
Category : Electronic
ISBN : 1493930184

Get Book

Nonholonomic Mechanics and Control by A.M. Bloch Pdf

This book explores some of the connections between control theory and geometric mechanics; that is, control theory is linked with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations and in particular with the theory of mechanical systems subject to motion constraints. The synthesis of the topic is appropriate as there is a particularly rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems and illustrates the elegant mathematics behind many simple, interesting, and useful mechanical examples. It is intended for graduate students who wish to learn this subject and researchers in the area who want to enhance their techniques. The book contains sections focusing on physical examples and elementary terms, as well as theoretical sections that use sophisticated analysis and geometry. The first four chapters offer preliminaries and background information, while the remaining five are broken down into chapters on nonholonomic mechanics, control and stabilization, optimal control, energy-based, and recent energy-based techniques for mechanical and nonholonomic systems. The second edition of the book extends many of the topics discussed in the first edition to incorporate both new research and more historical background. The additional material includes work on the Hamel equations and quasivelocities, discrete dynamics, bo th holonomic and nonholonomic, Hamiltonization, and the Hamilton-Jacobi equation. In addition new examples and exercises have been added. Review of earlier Edition (A.J. van der Schaft, IEEE Control System Magazine, 2005 ) This book can be read on many different levels and has been described as a "delightful book that will be valuable for both the control community and researchers" .

Author : Daizhan Cheng,Xiaoming Hu,Tielong Shen
Publisher : Springer Science & Business Media
Page : 551 pages
File Size : 51,6 Mb
Release : 2011-03-28
Category : Science
ISBN : 9783642115509

Get Book

Analysis and Design of Nonlinear Control Systems by Daizhan Cheng,Xiaoming Hu,Tielong Shen Pdf

"Analysis and Design of Nonlinear Control Systems" provides a comprehensive and up to date introduction to nonlinear control systems, including system analysis and major control design techniques. The book is self-contained, providing sufficient mathematical foundations for understanding the contents of each chapter. Scientists and engineers engaged in the field of Nonlinear Control Systems will find it an extremely useful handy reference book. Dr. Daizhan Cheng, a professor at Institute of Systems Science, Chinese Academy of Sciences, has been working on the control of nonlinear systems for over 30 years and is currently a Fellow of IEEE and a Fellow of IFAC, he is also the chairman of Technical Committee on Control Theory, Chinese Association of Automation.

Author : M.D.S. Aliyu
Publisher : CRC Press
Page : 407 pages
File Size : 50,6 Mb
Release : 2017-12-19
Category : Mathematics
ISBN : 9781351833219

Get Book

Nonlinear H-Infinity Control, Hamiltonian Systems and Hamilton-Jacobi Equations by M.D.S. Aliyu Pdf

A comprehensive overview of nonlinear H∞ control theory for both continuous-time and discrete-time systems, Nonlinear H∞-Control, Hamiltonian Systems and Hamilton-Jacobi Equations covers topics as diverse as singular nonlinear H∞-control, nonlinear H∞ -filtering, mixed H2/ H∞-nonlinear control and filtering, nonlinear H∞-almost-disturbance-decoupling, and algorithms for solving the ubiquitous Hamilton-Jacobi-Isaacs equations. The link between the subject and analytical mechanics as well as the theory of partial differential equations is also elegantly summarized in a single chapter. Recent progress in developing computational schemes for solving the Hamilton-Jacobi equation (HJE) has facilitated the application of Hamilton-Jacobi theory in both mechanics and control. As there is currently no efficient systematic analytical or numerical approach for solving them, the biggest bottle-neck to the practical application of the nonlinear equivalent of the H∞-control theory has been the difficulty in solving the Hamilton-Jacobi-Isaacs partial differential-equations (or inequalities). In light of this challenge, the author hopes to inspire continuing research and discussion on this topic via examples and simulations, as well as helpful notes and a rich bibliography. Nonlinear H∞-Control, Hamiltonian Systems and Hamilton-Jacobi Equations was written for practicing professionals, educators, researchers and graduate students in electrical, computer, mechanical, aeronautical, chemical, instrumentation, industrial and systems engineering, as well as applied mathematics, economics and management.

Author : Alberto Isidori
Publisher : Springer Science & Business Media
Page : 300 pages
File Size : 46,8 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781447105497

Get Book

Nonlinear Control Systems II by Alberto Isidori Pdf

This eagerly awaited follow-up to Nonlinear Control Systems incorporates recent advances in the design of feedback laws, for the purpose of globally stabilizing nonlinear systems via state or output feedback. The author is one of the most prominent researchers in the field.

Author : Alberto Isidori
Publisher : Springer Science & Business Media
Page : 557 pages
File Size : 49,8 Mb
Release : 2013-04-17
Category : Technology & Engineering
ISBN : 9781846286155

Get Book

Nonlinear Control Systems by Alberto Isidori Pdf

The purpose of this book is to present a self-contained description of the fun damentals of the theory of nonlinear control systems, with special emphasis on the differential geometric approach. The book is intended as a graduate text as weil as a reference to scientists and engineers involved in the analysis and design of feedback systems. The first version of this book was written in 1983, while I was teach ing at the Department of Systems Science and Mathematics at Washington University in St. Louis. This new edition integrates my subsequent teaching experience gained at the University of Illinois in Urbana-Champaign in 1987, at the Carl-Cranz Gesellschaft in Oberpfaffenhofen in 1987, at the University of California in Berkeley in 1988. In addition to a major rearrangement of the last two Chapters of the first version, this new edition incorporates two additional Chapters at a more elementary level and an exposition of some relevant research findings which have occurred since 1985.

Author : Nathan van de Wouw,Erjen Lefeber,Ines Lopez Arteaga
Publisher : Springer
Page : 234 pages
File Size : 51,8 Mb
Release : 2016-07-07
Category : Technology & Engineering
ISBN : 9783319303574

Get Book

Nonlinear Systems by Nathan van de Wouw,Erjen Lefeber,Ines Lopez Arteaga Pdf

This treatment of modern topics related to the control of nonlinear systems is a collection of contributions celebrating the work of Professor Henk Nijmeijer and honoring his 60th birthday. It addresses several topics that have been the core of Professor Nijmeijer’s work, namely: the control of nonlinear systems, geometric control theory, synchronization, coordinated control, convergent systems and the control of underactuated systems. The book presents recent advances in these areas, contributed by leading international researchers in systems and control. In addition to the theoretical questions treated in the text, particular attention is paid to a number of applications including (mobile) robotics, marine vehicles, neural dynamics and mechanical systems generally. This volume provides a broad picture of the analysis and control of nonlinear systems for scientists and engineers with an interest in the interdisciplinary field of systems and control theory. The reader will benefit from the expert participants’ ideas on important open problems with contributions that represent the state of the art in nonlinear control.

Author : Anonim
Publisher : Unknown
Page : 128 pages
File Size : 45,8 Mb
Release : 19??
Category : Electronic
ISBN : 9535127152

Get Book

Nonlinear Systems €“ Design, Analysis, Estimation and Control by Anonim Pdf

Author : Alberto Isidori
Publisher : Springer Science & Business Media
Page : 487 pages
File Size : 49,5 Mb
Release : 2013-04-17
Category : Computers
ISBN : 9783662025819

Get Book

Nonlinear Control Systems by Alberto Isidori Pdf

The purpose of this book is to present a self-contained description of the fundamentals of the theory of nonlinear control systems, with special emphasis on the differential geometric approach. The book is intended as a graduate text as well as a reference to scientists and engineers involved in the analysis and design of feedback systems. The first version of this book was written in 1983, while I was teaching at the Department of Systems Science and Mathematics at Washington University in St. Louis. This new edition integrates my subsequent teaching experience gained at the University of Illinois in Urbana-Champaign in 1987, at the Carl Cranz Gesellschaft in Oberpfaffenhofen in 1987, at the University of California in Berkeley in 1988. In addition to a major rearrangement of the last two Chapters of the first version, this new edition incorporates two additional Chapters at a more elementary level and an exposition of some relevant research findings which have occurred since 1985. In the past few years differential geometry has proved to be an effective means of analysis and design of nonlinear control systems as it was in the past for the Laplace transform, complex variable theory and linear algebra in relation to linear systems. Synthesis problems of longstanding interest like disturbance decoupling, noninteracting control, output regulation, and the shaping of the input-output response, can be dealt with relative ease, on the basis of mathematical concepts that can be easily acquired by a control scientist.

Author : Shankar Sastry
Publisher : Springer Science & Business Media
Page : 690 pages
File Size : 49,7 Mb
Release : 2013-04-18
Category : Mathematics
ISBN : 9781475731088

Get Book

Nonlinear Systems by Shankar Sastry Pdf

There has been much excitement over the emergence of new mathematical techniques for the analysis and control of nonlinear systems. In addition, great technological advances have bolstered the impact of analytic advances and produced many new problems and applications which are nonlinear in an essential way. This book lays out in a concise mathematical framework the tools and methods of analysis which underlie this diversity of applications.

Author : M. Vidyasagar
Publisher : SIAM
Page : 515 pages
File Size : 45,5 Mb
Release : 2002-01-01
Category : Mathematics
ISBN : 0898719186

Get Book

Nonlinear Systems Analysis by M. Vidyasagar Pdf

When M. Vidyasagar wrote the first edition of Nonlinear Systems Analysis, most control theorists considered the subject of nonlinear systems a mystery. Since then, advances in the application of differential geometric methods to nonlinear analysis have matured to a stage where every control theorist needs to possess knowledge of the basic techniques because virtually all physical systems are nonlinear in nature. The second edition, now republished in SIAM's Classics in Applied Mathematics series, provides a rigorous mathematical analysis of the behavior of nonlinear control systems under a variety of situations. It develops nonlinear generalizations of a large number of techniques and methods widely used in linear control theory. The book contains three extensive chapters devoted to the key topics of Lyapunov stability, input-output stability, and the treatment of differential geometric control theory. Audience: this text is designed for use at the graduate level in the area of nonlinear systems and as a resource for professional researchers and practitioners working in areas such as robotics, spacecraft control, motor control, and power systems.

Author : Nikolaos Bekiaris-Liberis,Miroslav Krstic
Publisher : SIAM
Page : 293 pages
File Size : 51,6 Mb
Release : 2013-09-25
Category : Mathematics
ISBN : 9781611972856

Get Book

Nonlinear Control Under Nonconstant Delays by Nikolaos Bekiaris-Liberis,Miroslav Krstic Pdf

The authors have developed a methodology for control of nonlinear systems in the presence of long delays, with large and rapid variation in the actuation or sensing path, or in the presence of long delays affecting the internal state of a system. In addition to control synthesis, they introduce tools to quantify the performance and the robustness properties of the designs provided in the book. The book is based on the concept of predictor feedback and infinite-dimensional backstepping transformation for linear systems and the authors guide the reader from the basic ideas of the concept?with constant delays only on the input?all the way through to nonlinear systems with state-dependent delays on the input as well as on system states. Readers will find the book useful because the authors provide elegant and systematic treatments of long-standing problems in delay systems, such as systems with state-dependent delays that arise in many applications. In addition, the authors give all control designs by explicit formulae, making the book especially useful for engineers who have faced delay-related challenges and are concerned with actual implementations and they accompany all control designs with Lyapunov-based analysis for establishing stability and performance guarantees.

Author : Amal Choukchou-Braham,Brahim Cherki,Mohamed Djemaï,Krishna Busawon
Publisher : Springer Science & Business Media
Page : 148 pages
File Size : 42,5 Mb
Release : 2013-11-18
Category : Technology & Engineering
ISBN : 9783319026367

Get Book

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