Lyapunov Based Control of Mechanical Systems

Lyapunov Based Control of Mechanical Systems

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 ...

Author: Marcio S. de Queiroz

Publisher: Springer Science & Business Media

ISBN: 9781461213529

Category: Technology & Engineering

Page: 316

View: 341

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.
Categories: Technology & Engineering

Applied Mechanics Reviews

Applied Mechanics Reviews

This control laws . approach is characterized by generating Lyapunov - Based
Control of Mechanical Lyapunov functions for the entire system Systems is a very
valuable addition to the using full distributed parameter description literature on ...

Author:

Publisher:

ISBN: UIUC:30112043751830

Category: Mechanics, Applied

Page:

View: 692

Categories: Mechanics, Applied

Nonlinear Control of Engineering Systems

Nonlinear Control of Engineering Systems

Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.

Author: Warren E. Dixon

Publisher: Springer Science & Business Media

ISBN: 9781461200314

Category: Technology & Engineering

Page: 394

View: 540

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.
Categories: Technology & Engineering

Lyapunov Based Control of Robotic Systems

Lyapunov Based Control of Robotic Systems

K. Deguchi, “Optimal Motion Control for Image-Based Visual Servoing by
Decoupling Translation and Rotation,” Proceedings ... M. S. de Queiroz, D. M.
Dawson, S. P. Nagarkatti, and F. Zhang, Lyapunov-Based Control of Mechanical
Systems, ...

Author: Aman Behal

Publisher: CRC Press

ISBN: 9781000654431

Category: Computers

Page: 389

View: 754

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
Categories: Computers

Nonlinear Dynamical Systems and Control

Nonlinear Dynamical Systems and Control

This book is an indispensable resource for applied mathematicians, dynamical systems theorists, control theorists, and engineers.

Author: Wassim M. Haddad

Publisher: Princeton University Press

ISBN: 9781400841042

Category: Mathematics

Page: 944

View: 700

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.
Categories: Mathematics

Scientific and Technical Aerospace Reports

Scientific and Technical Aerospace Reports

Decentralized control of large flexible structures by joint decoupling ( NASA - TM
- 107694 ] 02 p0339 N93-12020 A VMEbus ... phase zero for nonuniform link
design 03 80611 N93-12953 Robust control of uncertain aerospace and
mechanical systems with unmodelled ... p1180 N93-17772 Design and control of
a space based two link manipulator with Lyapunov based control laws ( AD -
A257568 ) 06 ...

Author:

Publisher:

ISBN: STANFORD:36105009011961

Category: Aeronautics

Page:

View: 949

Categories: Aeronautics

Geometric Control of Mechanical Systems

Geometric Control of Mechanical Systems

Modeling, Analysis, and Design for Simple Mechanical Control Systems
Francesco Bullo, Andrew D. Lewis ... based on the spectrum of the linearization
of the mechanical system; and a nonlinear Lyapunov analysis based on the
properties of ...

Author: Francesco Bullo

Publisher: Springer Science & Business Media

ISBN: 0387221956

Category: Science

Page: 727

View: 518

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.
Categories: Science

Control of Nonlinear Dynamical Systems

Control of Nonlinear Dynamical Systems

This book is devoted to new methods of control for complex dynamical systems and deals with nonlinear control systems having several degrees of freedom, subjected to unknown disturbances, and containing uncertain parameters.

Author: Felix L. Chernous'ko

Publisher: Springer Science & Business Media

ISBN: 9783540707844

Category: Technology & Engineering

Page: 396

View: 938

This book is devoted to new methods of control for complex dynamical systems and deals with nonlinear control systems having several degrees of freedom, subjected to unknown disturbances, and containing uncertain parameters. Various constraints are imposed on control inputs and state variables or their combinations. The book contains an introduction to the theory of optimal control and the theory of stability of motion, and also a description of some known methods based on these theories. Major attention is given to new methods of control developed by the authors over the last 15 years. Mechanical and electromechanical systems described by nonlinear Lagrange’s equations are considered. General methods are proposed for an effective construction of the required control, often in an explicit form. The book contains various techniques including the decomposition of nonlinear control systems with many degrees of freedom, piecewise linear feedback control based on Lyapunov’s functions, methods which elaborate and extend the approaches of the conventional control theory, optimal control, differential games, and the theory of stability. The distinctive feature of the methods developed in the book is that the c- trols obtained satisfy the imposed constraints and steer the dynamical system to a prescribed terminal state in ?nite time. Explicit upper estimates for the time of the process are given. In all cases, the control algorithms and the estimates obtained are strictly proven.
Categories: Technology & Engineering

Non linear Control for Underactuated Mechanical Systems

Non linear Control for Underactuated Mechanical Systems

This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model.

Author: Isabelle Fantoni

Publisher: Springer Science & Business Media

ISBN: 9781447101772

Category: Technology & Engineering

Page: 295

View: 816

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.
Categories: Technology & Engineering

Dynamics and Control of Mechanical Systems in Offshore Engineering

Dynamics and Control of Mechanical Systems in Offshore Engineering

System. with. Constraints. In the previous chapter, we proposed a tracking control
for the payload using an adaptive neural ... of finite dimensionality, we design the
boundary control and perform Lyapunov analysis based on the PDE directly.

Author: Wei He

Publisher: Springer Science & Business Media

ISBN: 9781447153375

Category: Technology & Engineering

Page: 230

View: 254

Dynamics and Control of Mechanical Systems in Offshore Engineering is a comprehensive treatment of marine mechanical systems (MMS) involved in processes of great importance such as oil drilling and mineral recovery. Ranging from nonlinear dynamic modeling and stability analysis of flexible riser systems, through advanced control design for an installation system with a single rigid payload attached by thrusters, to robust adaptive control for mooring systems, it is an authoritative reference on the dynamics and control of MMS. Readers will gain not only a complete picture of MMS at the system level, but also a better understanding of the technical considerations involved and solutions to problems that commonly arise from dealing with them. The text provides: · a complete framework of dynamical analysis and control design for marine mechanical systems; · new results on the dynamical analysis of riser, mooring and installation systems together with a general modeling method for a class of MMS; · a general method and strategy for realizing the control objectives of marine systems with guaranteed stability the effectiveness of which is illustrated by extensive numerical simulation; and · approximation-based control schemes using neural networks for installation of subsea structures with attached thrusters in the presence of time-varying environmental disturbances and parametric uncertainties. Most of the results presented are analytical with repeatable design algorithms with proven closed-loop stability and performance analysis of the proposed controllers is rigorous and detailed. Dynamics and Control of Mechanical Systems in Offshore Engineering is primarily intended for researchers and engineers in the system and control community, but graduate students studying control and marine engineering will also find it a useful resource as will practitioners working on the design, running or maintenance of offshore platforms.
Categories: Technology & Engineering

Nonlinear and Adaptive Control with Applications

Nonlinear and Adaptive Control with Applications

Nonlinear and Adaptive Control with Applications provides a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties.

Author: Alessandro Astolfi

Publisher: Springer Science & Business Media

ISBN: 1848000669

Category: Technology & Engineering

Page: 290

View: 588

The authors here provide a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. They employ a new tool based on the ideas of system immersion and manifold invariance. New algorithms are delivered for the construction of robust asymptotically-stabilizing and adaptive control laws for nonlinear systems. The methods proposed lead to modular schemes that are easier to tune than their counterparts obtained from Lyapunov redesign.
Categories: Technology & Engineering

Dissipative Systems Analysis and Control

Dissipative Systems Analysis and Control

This second edition of Dissipative Systems Analysis and Control has been substantially reorganized to accommodate new material and enhance its pedagogical features.

Author: Bernard Brogliato

Publisher: Springer

ISBN: 9783030194208

Category: Technology & Engineering

Page: 711

View: 395

This second edition of Dissipative Systems Analysis and Control has been substantially reorganized to accommodate new material and enhance its pedagogical features. It examines linear and nonlinear systems with examples of both in each chapter. Also included are some infinite-dimensional and nonsmooth examples. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable feedback control laws.
Categories: Technology & Engineering

Nonlinear Control Systems 2004

Nonlinear Control Systems 2004

SPEED - GRADIENT CONTROL OF ENERGY IN SINGULARLY PERTURBED
SYSTEMS Alexander Fradkov , Boris Andrievsky * * Institute for Problems of
Mechanical Engineering of RAS , 61 Bolshoy Ave. ... However , the conditions of (
Fradkov , 1987 ) are not fulfilled for energy control problems , since ( A ) the
energy - based Lyapunov function is not radially unbounded and ( B ) an
unperturbed ...

Author: Frank Allgower

Publisher: Elsevier

ISBN: 0080443036

Category: Technology & Engineering

Page: 980

View: 857

Categories: Technology & Engineering

Advanced Sliding Mode Control for Mechanical Systems

Advanced Sliding Mode Control for Mechanical Systems

Based on the RBF model, the Lyapunov synthesis approach is used to develop
an adaptive control algorithm. The chattering action is attenuated and a robust
performance can be ensured. The stability analysis for the proposed control ...

Author: Jinkun Liu

Publisher: Springer Science & Business Media

ISBN: 9783642209079

Category: Technology & Engineering

Page: 356

View: 422

"Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation" takes readers through the basic concepts, covering the most recent research in sliding mode control. The book is written from the perspective of practical engineering and examines numerous classical sliding mode controllers, including continuous time sliding mode control, discrete time sliding mode control, fuzzy sliding mode control, neural sliding mode control, backstepping sliding mode control, dynamic sliding mode control, sliding mode control based on observer, terminal sliding mode control, sliding mode control for robot manipulators, and sliding mode control for aircraft. This book is intended for engineers and researchers working in the field of control. Dr. Jinkun Liu works at Beijing University of Aeronautics and Astronautics and Dr. Xinhua Wang works at the National University of Singapore.
Categories: Technology & Engineering

Stability and Convergence of Mechanical Systems with Unilateral Constraints

Stability and Convergence of Mechanical Systems with Unilateral Constraints

This book uses the mathematical framework of measure differential inclusions to formalise such models. The book proceeds with the presentation of stability results for measure differential inclusions.

Author: Remco I. Leine

Publisher: Springer Science & Business Media

ISBN: 3540769757

Category: Technology & Engineering

Page: 236

View: 904

While the stability theory for systems with bilateral constraints is a well-established field, this monograph represents a systematic study of mechanical systems with unilateral constraints, such as unilateral contact, impact and friction. Such unilateral constraints give rise to non-smooth dynamical models for which stability theory is developed in this work. The book will be of interest to those working in the field of non-smooth mechanics and dynamics.
Categories: Technology & Engineering

Reinforcement Learning for Optimal Feedback Control

Reinforcement Learning for Optimal Feedback Control

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.

Author: Rushikesh Kamalapurkar

Publisher: Springer

ISBN: 9783319783840

Category: Technology & Engineering

Page: 293

View: 912

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.
Categories: Technology & Engineering

PID Trajectory Tracking Control for Mechanical Systems

PID Trajectory Tracking Control for Mechanical Systems

For the set - point regulation control , the value of Lyapunov function is large at
the start time and it is gradually reduced to zero because the controller is
designed so that the time derivative of Lyapunov function remains negative
definite .

Author: Youngjin Choi

Publisher: Springer Science & Business Media

ISBN: 3540205675

Category: Technology & Engineering

Page: 112

View: 128

Though PID control has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, it has never been changed in the structure itself. The strength of PID control lies in the simplicity, lucid meaning, and clear e?ect. Though it must be a widely - cepted controller for mechanical control systems, it is still short of theoretical bases,e.g., optimality, performance tuning rules, automatic performance t- ing method, and output feedback PID control have not been clearly presented formechanicalcontrolsystems.Thesesubjectswillbethoroughlydiscussedin this book. There are many books of PID controller for the purpose of process control, but it is hard to ?nd a book on the characteristics of PID control for mechanical systems. In the ?rst place, when nonlinear optimal control theory is applied to mechanical systems, a class of Hamilton-Jacobi (HJ) equations is derived as a result of optimization. There are two methods to solve a class of HJ eq- tions: a direct method using an approximation and inverse method ?nding the performance index from a class of HJ equations. Also, there are two control methods according to the objective: the set-point regulation control and t- jectory tracking control. The trajectory tracking control is basically di?erent from set-point regulation one in that the desired con?guration, velocity and acceleration pro?les according to time progress are added to the motion of mechanical system. This book is focusing on an inverse optimization method and the trajectory tracking control system.
Categories: Technology & Engineering

Passivity based Control of Euler Lagrange Systems

Passivity based Control of Euler Lagrange Systems

The essence of this work is the control of electromechanical systems, such as manipulators, electric machines, and power converters.

Author: Romeo Ortega

Publisher: Springer Science & Business Media

ISBN: 9781447136033

Category: Technology & Engineering

Page: 543

View: 214

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.
Categories: Technology & Engineering

Discontinuous Systems

Discontinuous Systems

Lyapunov Analysis and Robust Synthesis under Uncertainty Conditions Yury V.
Orlov. Chapter. 13. Hybrid. Control. of. Underactuated. Manipulators. with.
Frictional. Joints. The stabilization of underactuated systems, forced by fewer ...
Due to this, the present investigation is based on hybrid synthesis, which is
recognized as an effective tool of controlling underactuated mechanical systems [
250, 251].

Author: Yury V. Orlov

Publisher: Springer Science & Business Media

ISBN: 9781848009844

Category: Technology & Engineering

Page: 320

View: 724

Discontinuous Systems develops nonsmooth stability analysis and discontinuous control synthesis based on novel modeling of discontinuous dynamic systems, operating under uncertain conditions. While being primarily a research monograph devoted to the theory of discontinuous dynamic systems, no background in discontinuous systems is required; such systems are introduced in the book at the appropriate conceptual level. Being developed for discontinuous systems, the theory is successfully applied to their subclasses – variable-structure and impulsive systems – as well as to finite- and infinite-dimensional systems such as distributed-parameter and time-delay systems. The presentation concentrates on algorithms rather than on technical implementation although theoretical results are illustrated by electromechanical applications. These specific applications complete the book and, together with the introductory theoretical constituents bring some elements of the tutorial to the text.
Categories: Technology & Engineering

The Mechanical Systems Design Handbook

The Mechanical Systems Design Handbook

Modeling, Measurement, and Control Yildirim Hurmuzlu, Osita D.I. Nwokah ...
System Model • Model-Based Boundary Control Law • Experimental Trials 16.5
Summary . ... we first provide a motivating example to illustrate in a heuristic
manner how a boundary controller is derived via the use of a Lyapunov-like
approach.

Author: Yildirim Hurmuzlu

Publisher: CRC Press

ISBN: 9781420036749

Category: Technology & Engineering

Page: 872

View: 581

With a specific focus on the needs of the designers and engineers in industrial settings, The Mechanical Systems Design Handbook: Modeling, Measurement, and Control presents a practical overview of basic issues associated with design and control of mechanical systems. In four sections, each edited by a renowned expert, this book answers diverse questions fundamental to the successful design and implementation of mechanical systems in a variety of applications. Manufacturing addresses design and control issues related to manufacturing systems. From fundamental design principles to control of discrete events, machine tools, and machining operations to polymer processing and precision manufacturing systems. Vibration Control explores a range of topics related to active vibration control, including piezoelectric networks, the boundary control method, and semi-active suspension systems. Aerospace Systems presents a detailed analysis of the mechanics and dynamics of tensegrity structures Robotics offers encyclopedic coverage of the control and design of robotic systems, including kinematics, dynamics, soft-computing techniques, and teleoperation. Mechanical systems designers and engineers have few resources dedicated to their particular and often unique problems. The Mechanical Systems Design Handbook clearly shows how theory applies to real world challenges and will be a welcomed and valuable addition to your library.
Categories: Technology & Engineering