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Dixon / Nagarkatti / Behal

Nonlinear Control of Engineering Systems

A Lyapunov-Based Approach

Medium: Buch
ISBN: 978-1-4612-6581-8
Verlag: Birkhäuser Boston
Erscheinungstermin: 21.10.2012
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Recent advancements in Lyapunov-based design and analysis

techniques have applications to a broad class of engineering systems,

including mechanical, electrical, robotic, aerospace, and

underactuated systems. This book provides a practical yet rigorous

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.

Features include:

* Control designs for a broad class of engineering systems

* Presentation of adaptive and learning control methods for uncertain

nonlinear systems

* Experimental testbed descriptions and results that guide the reader

toward techniques for further research

* Development of necessary mathematical background in each chapter;

additional mathematical prerequisites contained in two appendices

Intended for readers who have some knowledge of undergraduate

systems theory, the book includes a wide range of applications making

it suitable for an extensive audience. Graduate students and

researchers in control systems, robotics, and applied mathematics, as

well as professional engineers will appreciate the work's combination

of theoretical underpinnings and current and emerging engineering

applications.

Produkteigenschaften

  • Artikelnummer: 9781461265818
  • Medium: Buch
  • ISBN: 978-1-4612-6581-8
  • Verlag: Birkhäuser Boston
  • Erscheinungstermin: 21.10.2012
  • Sprache(n): Englisch
  • Auflage: Softcover Nachdruck of the original 1. Auflage 2003
  • Serie: Control Engineering
  • Produktform: Kartoniert
  • Gewicht: 633 g
  • Seiten: 394
  • Format (B x H x T): 155 x 235 x 23 mm
  • Ausgabetyp: Kein, Unbekannt

Themen

Autoren/Hrsg.

Autoren

1 Introduction.- 1.1 Pitfalls of Linear Control.- 1.2 Lyapunov-Based Control.- 1.3 Summary.- References.- 2 Mechanical Systems.- 2.1 Introduction.- 2.2 Autobalancing Systems.- 2.3 Dynamically Positioned Ships.- 2.4 Euler-Lagrange Systems.- 2.5 Background and Further Reading.- References.- 3 Electric Machines.- 3.1 Introduction.- 3.2 Induction Motor.- 3.3 Switched Reluctance Motor.- 3.4 Active Magnetic Bearings.- 3.5 Background and Further Reading.- References.- 4 Robotic Systems.- 4.1 Introduction.- 4.2 Learning Control Applications.- 4.3 Position and Force Control Applications.- 4.4 Visual Servo Control Application.- 4.5 Background and Further Reading.- References.- 5 Aerospace Systems.- 5.1 Introduction.- 5.2 Attitude Tracking.- 5.3 Energy/Power and Attitude Tracking.- 5.4 Formation Flying.- 5.5 Background and Further Reading.- References.- 6 Underactuated Systems.- 6.1 Introduction.- 6.2 Overhead Crane Systems.- 6.3 VTOL Systems.- 6.4 Satellite Systems.- 6.5 Background and Further Reading.- References.- Appendices.- A Mathematical Background.- References.- B Supplementary Lemmas and Definitions.- B.1 Chapter 2 Lemmas.- B.l.1 Convolution Operations for Torque Filtering.- B.1.2 Control Signal Bound.- B.1.3 Control Signal Bound.- B.1.4 Control Signal Bound.- B.1.5 Inequality Proofs.- B.1.6 Control Signal Bounds.- B.1.7 Matrix Property.- B.2 Chapter 3 Definitions and Lemmas.- B.2.1 Supplemental Definitions.- B.2.2 Stability Analysis for Projection Cases.- B.2.3 Dynamic Terms for a 6-DOF AMB System.- B.2.4 Partial Derivative Definitions.- B.3 Chapter 4 Lemmas.- B.3.1 Inequality Lemma.- B.3.2 Stability Analysis for Projection Cases.- B.3.3 Boundedness Lemma.- B.3.4 State-Dependent Disturbance Bound.- B.3.5 Matrix Property.- B.4 Chapter 5 Lemmas.- B.4.1 Skew-Symmetry Property.- B.4.2 Control Signal Bound.- B.5 Chapter 6 Definitions and Lemmas.- B.5.1 Definitions for Dynamic Terms.- B.5.2 Linear Control Law Analysis.- B.5.3 Coupling Control Law Analysis.- B.5.4 Matrix Property.- References.