Adaptive Control Of Underactuated Mechanical Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Adaptive Control Of Underactuated Mechanical Systems write by An-chyau Huang. This book was released on 2015-01-29. Adaptive Control Of Underactuated Mechanical Systems available in PDF, EPUB and Kindle. 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.
Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems
Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems write by Jiangshuai Huang. This book was released on 2017-12-22. Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems available in PDF, EPUB and Kindle. 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.
Motion Control of Underactuated Mechanical Systems
Motion Control of Underactuated Mechanical Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Motion Control of Underactuated Mechanical Systems write by Javier Moreno-Valenzuela. This book was released on 2017-07-11. Motion Control of Underactuated Mechanical Systems available in PDF, EPUB and Kindle. 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.
Adaptive Control
Adaptive Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Adaptive Control write by Dianwei Qian. This book was released on 2018-03. Adaptive Control available in PDF, EPUB and Kindle. Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. An adaptive control system utilizes on-line identification of which either system parameter or controller parameter, which does not need a priori information about the bounds on these uncertain or time-varying parameters. These approaches consider their control design in the sense of Lyapunov. Besides, there are still some branches by combining adaptive control and other control methods, i.e., nonlinear control methods, intelligent control methods, and predict control methods, to name but a few. Addresses some original contributions reporting the latest advances in adaptive control. It aims to gather the latest research on state-of-the-art methods, applications and research for the adaptive control theory, and recent new findings obtained by the technique of adaptive control. Apparently, the book cannot include all research topics. Different aspects of adaptive control are explored. Chapters includes some new tendencies and developments in research on a adaptive formation controller for multi-robot systems; L1 adaptive control design of the the longitudinal dynamics of a hypersonic vehicle model; adaptive high-gain control of biologically inspired receptor systems; adaptive residual vibration suppression of sigid-flexible coupled systems; neuro-hierarchical sliding mode control for under-actuated mechanical systems; neural network adaptive PID control design based on PLC for a water-level system; and fuzzy-based design of networked control systems with random time delays and packet dropout in the forward communication channel--
Non-linear Control for Underactuated Mechanical Systems
Non-linear Control for Underactuated Mechanical Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Non-linear Control for Underactuated Mechanical Systems write by Isabelle Fantoni. This book was released on 2012-12-06. Non-linear Control for Underactuated Mechanical Systems available in PDF, EPUB and Kindle. 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.
