› › Block Backstepping Design Of Nonlinear State Feedback Control Law For Underactuated Mechanical Systems

Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems

Author : Shubhobrata Rudra

Publisher : Springer

Page : 183 pages

File Size : 48,72 MB

Release : 2016-09-08

Category : Technology & Engineering

ISBN : 9811019568

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Book Description

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.



Motion Control of Underactuated Mechanical Systems

Author : Javier Moreno-Valenzuela

Publisher : Springer

Page : 230 pages

File Size : 36,78 MB

Release : 2017-07-11

Category : Technology & Engineering

ISBN : 3319583190

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Book Description

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.



Backstepping Control of Nonlinear Dynamical Systems

Author : Sundarapandian Vaidyanathan

Publisher : Academic Press

Page : 542 pages

File Size : 31,90 MB

Release : 2020-08-15

Category : Technology & Engineering

ISBN : 0128175834

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Book Description

Backstepping Control of Nonlinear Dynamical Systems addresses both the fundamentals of backstepping control and advances in the field. The latest techniques explored include 'active backstepping control', 'adaptive backstepping control', 'fuzzy backstepping control' and 'adaptive fuzzy backstepping control'. The reference book provides numerous simulations using MATLAB and circuit design. These illustrate the main results of theory and applications of backstepping control of nonlinear control systems. Backstepping control encompasses varied aspects of mechanical engineering and has many different applications within the field. For example, the book covers aspects related to robot manipulators, aircraft flight control systems, power systems, mechanical systems, biological systems and chaotic systems. This multifaceted view of subject areas means that this useful reference resource will be ideal for a large cross section of the mechanical engineering community. - Details the real-world applications of backstepping control - Gives an up-to-date insight into the theory, uses and application of backstepping control - Bridges the gaps for different fields of engineering, including mechanical engineering, aeronautical engineering, electrical engineering, communications engineering, robotics and biomedical instrumentation



Recent Trends in Engineering and Technology (NCRTET-2017)

Author : Bijoy Kumar Upadhyaya

Publisher : Allied Publishers

Page : 300 pages

File Size : 14,77 MB

Release : 2018-03-05

Category : Technology & Engineering

ISBN : 9387380610

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Book Description

After successful organization of the "National Seminar on Energy Science and Engineering, 2013 (NSESE-2013)" during November, 2013, Tripura Institute of Technology, Narsingarh, Tripura (West) has organized the second "National Conference on Recent Trends in Engineering and Technology, 2017 (NCRTET-2017)" during March 17-18, 2017. The seminar aimed to provide an opportunity for academicians and researchers in India to discuss the divergent issues related to recent trends in engineering and technology covering all aspects on one platform so as to critically examine the ongoing/current research and derive directions for future research strategies and policy implications. As a mark of remembrance, a souvenir was published on this occasion. The conference has received enormous response in the form of technical papers and research contributions from various authors across the country. In total, 55 numbers of technical papers related to different engineering domain were accepted for oral presentation. Four invited papers from renowned faculty members of our country were also presented on the occasion. We are also happy to keep our commitment of publishing a conference proceeding with ISBN through a prestigious publisher having all accepted full length papers.



Communication and Control for Robotic Systems

Author : Jason Gu

Publisher : Springer Nature

Page : 479 pages

File Size : 48,79 MB

Release : 2021-08-02

Category : Technology & Engineering

ISBN : 9811617775

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Book Description

This book is a collection of high-quality research articles. The book includes topics specific to the emerging areas of control for robotic systems, wireless communication, and development of embedded systems for robotic applications. The book integrates three important aspects of automation, namely (i) communication, (ii) control, and (iii) embedded design for robotic applications. This book is unique as it provides a unified framework for analysis, design, and deployment of the robotic applications across various engineering and non-engineering disciplines including the three primary aspects mentioned above. Furthermore, the emerging research and development work pertaining to the deployment of intelligent, nonlinear, and embedded control for robotic system for non-standard operating environment due to the widespread application of robotics technology for societal benefit is also a focal point of the book.



The Reaction Wheel Pendulum

Author : Daniel J. Block

Publisher : Morgan & Claypool Publishers

Page : 112 pages

File Size : 17,19 MB

Release : 2007-12-01

Category : Technology & Engineering

ISBN : 1598291955

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Book Description

This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.



Non-linear Control for Underactuated Mechanical Systems

Author : Isabelle Fantoni

Publisher : Springer Science & Business Media

Page : 302 pages

File Size : 50,32 MB

Release : 2012-12-06

Category : Technology & Engineering

ISBN : 1447101774

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Book Description

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.



Analysis and Control of Nonlinear Process Systems

Author : Katalin M. Hangos

Publisher : Springer Science & Business Media

Page : 325 pages

File Size : 35,28 MB

Release : 2006-04-18

Category : Mathematics

ISBN : 185233861X

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Book Description

This straightforward text makes the complicated but powerful methods of non-linear control accessible to process engineers. Not only does it cover the necessary mathematics, but it consistently refers to the widely-known finite-dimensional linear time-invariant continuous case as a basis for extension to the nonlinear situation.



Local Stabilizability of Nonlinear Control Systems

Author : Andrea Bacciotti

Publisher : World Scientific

Page : 224 pages

File Size : 29,8 MB

Release : 1992

Category : Science

ISBN : 9789810207137

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Book Description

This is one of the first books presenting stabilizability of nonlinear systems in a well-organized and detailed way, the problem, its motivation, features and results. Control systems defined by ordinary differential equations are dealt with. Many worked examples have been included. The main focus is on the mathematical aspects of the problem, but some important applications are also described. This book will be suitable as a textbook for advanced university courses, and also as a tool for control theorists and researchers. An extensive list of references is included.



Journal of Vibration Testing and System Dynamics

Author : Jan Awrejcewicz

Publisher : L& H Scientific Publishing

Page : 106 pages

File Size : 28,28 MB

Release : 2018-07-01

Category : Science

ISBN :

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Book Description

Vibration Testing and System Dynamics is an interdisciplinary journal serving as the forum for promoting dialogues among engineering practitioners and research scholars. As the platform for facilitating the synergy of system dynamics, testing, design, modeling, and education, the journal publishes high-quality, original articles in the theory and applications of dynamical system testing. The aim of the journal is to stimulate more research interest in and attention for the interaction of theory, design, and application in dynamic testing. Manuscripts reporting novel methodology design for modelling and testing complex dynamical systems with nonlinearity are solicited. Papers on applying modern theory of dynamics to real-world issues in all areas of physical science and description of numerical investigation are equally encouraged. Progress made in the following topics are of interest, but not limited, to the journal: Vibration testing and designDynamical systems and controlTesting instrumentation and controlComplex system dynamics in engineeringDynamic failure and fatigue theoryChemical dynamics and bio-systemsFluid dynamics and combustionPattern dynamicsNetwork dynamicsPlasma physics and plasma dynamicsControl signal synchronization and trackingBio-mechanical systems and devicesStructural and multi-body dynamicsFlow or heat-induced vibrationMass and energy transfer dynamicsWave propagation and testing