By Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra
This ebook offers a unique, generalized method of the layout of nonlinear kingdom suggestions keep watch over legislation for a wide classification of underactuated mechanical structures in line with program of the block backstepping process. The keep an eye on legislation proposed this is powerful opposed to the consequences of version uncertainty in dynamic and steady-state functionality and addresses the difficulty of asymptotic stabilization for the category of underactuated mechanical structures.
An underactuated process is outlined as one for which the measurement of house spanned through the configuration vector is larger than that of the distance spanned via the regulate variables. keep watch over difficulties bearing on underactuated structures presently symbolize an lively box of analysis as a result of their vast diversity of functions in robotics, aerospace, and marine contexts. The ebook derives a generalized concept of block backstepping keep an eye on layout for underactuated mechanical platforms, and examines a number of case stories that hide attention-grabbing examples of underactuated mechanical structures. The mathematical derivations are defined utilizing recognized notations and straightforward algebra, with out the necessity for any distinctive earlier historical past in greater arithmetic. The chapters are lucidly defined in a scientific demeanour, beginning with keep an eye on process preliminaries and relocating directly to a generalized description of the block backstepping strategy, earlier than turning to a number of case experiences. Simulation and experimental effects also are supplied to help in reader comprehension.
Read Online or Download Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems PDF
Similar control systems books
Eyad H. Abed's Advances in Control, Communication Networks, and PDF
This unified quantity is a set of invited articles on subject matters awarded on the Symposium on structures, keep watch over, and Networks, held in Berkeley June 5–7, 2005, in honor of Pravin Varaiya on his sixty fifth birthday. Varaiya is an eminent school member of the collage of California at Berkeley, widely recognized for his seminal contributions in parts as diversified as stochastic structures, nonlinear and hybrid structures, dispensed structures, communique networks, transportation structures, strength networks, economics, optimization, and platforms schooling.
Download e-book for iPad: Remote Manipulation Systems: Quality Evaluation and by L.I. Slutski
A well-known French author, Anatole France, cherished to claim, "The destiny is a handy position to place our desires" (1927). certainly, this comment profits complete that means whilst one considers the background of what we name at the present time "Robotics. " For greater than 3000 years, mankind has dreamt ofthe chance of arti ficial machines that will have the entire merits of human slaves with none in their drawbacks.
Download e-book for iPad: Foundations of Deterministic and Stochastic Control by Jon H. Davis
Regulate concept has purposes to a few parts in engineering and verbal exchange conception. This introductory textual content at the topic is reasonably self-contained, and includes quite a lot of issues that come with awareness difficulties, linear-quadratic optimum keep an eye on, balance idea, stochastic modeling and recursive estimation algorithms in communications and keep an eye on, and allotted approach modeling.
Read e-book online Intelligent Diagnosis and Prognosis of Industrial Networked PDF
In an period of severe festival the place plant working efficiencies has to be maximized, downtime because of equipment failure has develop into extra expensive. to chop working expenses and raise sales, industries have an pressing have to are expecting fault development and ultimate lifespan of commercial machines, procedures, and platforms.
- Digital control of electrical drives
- Introduction to Logistics Systems Planning and Control (Wiley Interscience Series in Systems and Optimization)
- Complexity and Control: Towards a Rigorous Behavioral Theory of Complex Dynamical Systems
- Wireless Lan Medium Access Control and Physical Layer Specifications Information Technology: Telecommunications and Information Exchange Between Systems (Pt.11)
- Computer-Aided Control Systems Design: Practical Applications Using MATLAB® and Simulink®
Extra info for Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems
Example text
In above definitions, “col” denotes the column vector. Actually, f1(q, p) and f2(q, p) are the nonlinear functions of q and p defined as f1 ðq; pÞ : R4 ! R and f2 ðq; pÞ : R4 ! R. In addition g1(q) and g2(q) are the functions of the output variables (q1, q2) defined as g1 ðqÞ : R2 ! R and g2 ðqÞ : R2 ! R. Also f1(q, p), f2(q, p), g1(q) and g2(q) are all C1 functions. It implies all the four above-mentioned functions are differentiable, and they have continuous time derivatives. In addition, f1 ð0; 0Þ ¼ 0 and f2 ð0; 0Þ ¼ 0.
14) transforms the closed loop system in the state model of Eq. 13). 3 37 Zero Dynamics Analysis of 2-DOF Underactuated Mechanical System Systematic derivation of the proposed control law for the 2-DOF UMS has been presented in Sect. 2. Expression of the control input is shown in Eq. 14). However, a minute observation on the proposed control law reveals that the control law [described in Eq. 14)] only ensures the stability of the transformed system in z1, z2 coordinate system [4]. Nonetheless, the algebraic state transformation has just converted the original fourth order underactuated state model of Eq.
27). Moreover, there exists a state feedback control law as given in Eq. 43), which ensures the global stabilization of the equilibrium for the underactuated system. e. the transformation of the underactuated system in block-strict feedback form) can be proved by direct calculation. Since it has already been established in the last section that global diffeomorphism is automatically ensured, it can be concluded that the invertibility of w ensures existence of the proposed state feedback control law.
