Isabelle Fantoni, Rogelio Lozano

Non-Linear Control for Underactuated Mechanical Systems

• Gebundenes Buch

Produktbeschreibung

This book deals with the application of modern control theory to some important underactuated mechanical systems. It presents modelling and control of the following systems:- the inverted pendulum- a convey-crane system- the pendubot system- the Furuta pendulum- the inertia wheel pendulum- the planar flexible-joint robot- the planar manipulator with two prismatic and one revolute joints- the ball & beam system- the hovercraft model- the planar vertical and take-off landing (PVTOL) aircraft- the helicopter model on a platform- the helicopter modelIn every case the model is obtained in detail using either the Euler-Lagrange formulation or the Newton's second law. We develop control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques. This book will be of great value for PhD students and researchers in the areas of non-linear control systems, mechanical systems, robotics and control of helicopters. It will help the reader gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

Produktdetails

• Communications and Control Engineering
• Verlag: Springer, Berlin
• Edition. edition
• Seitenzahl: 312
• Erscheinungstermin: 28. November 2001
• Englisch
• Abmessung: 244mm x 170mm x 25mm
• Gewicht: 688g
• ISBN-13: 9781852334239
• ISBN-10: 1852334231
• Artikelnr.: 10215043

Autorenporträt

Isabelle Fantoni, Universite de Technologie de Compiegne, France / Rogelio Lozano, Universite de Technologie de Compiegne, France

Inhaltsangabe

From the contents:
- Introduction
- Theoretical preliminaries
- The cart-pole system
- A convey-crane system
- The pendubot system
- The furuta pendulum
- The reaction wheel pendulum
- The planar flexible-joint robot
- The PPR planar manipulator
- The ball and beam acting on the ball
- The hovercraft model
- The PVTOL aircraft
- Helicopter on a platform
- Lagrangian helicpoter model
- Newtonian helicopter model
- Bibliography
- Index

---

1 Introduction.- 1.1 Motivation.- 1.2 Outline of the book.- 2 Theoretical preliminaries.- 2.1 Lyapunov stability.- 2.3 Passivity and dissipativity.- 2.4 Stabilization.- 2.5 Non-holonomic systems.- 2.6 Underactuated systems.- 2.7 Homoclinic orbit.- 3 The cart-pole system.- 3.1 Introduction.- 3.2 Model derivation.- 3.3 Passivity of the inverted pendulum.- 3.4 Controllability of the linearized model.- 3.5 Stabilizing control law.- 3.3 Stability analysis.- 3.4 Simulation results.- 3.5 Experimental results.- 3.6 Conclusions.- 4 A convey-crane system.- 4.1 Introduction.- 4.2 Model.- 4.3 Passivity of the system.- 4.4 Damping oscillations control law.- 4.6 Simulation results.- 4.7 Concluding remarks.- 5 The pendubot system.- 5.1 Introduction.- 5.2 System dynamics.- 5.3 Passivity of the pendubot.- 5.4 Linearization of the system.- 5.5 Control law for the top position.- 5.6 Stability analysis.- 5.7 Simulation results.- 5.8 Experimental results.- 5.9 Conclusions.- 6 The Furuta pendulum.- 6.1 Introduction.- 6.2 Modeling of the system.- 6.3 Controllability of the linearized model.- 6.4 Stabilization algorithm.- 6.5 Stability analysis.- 6.6 Simulation results.- 6.7 Conclusions.- 7 The reaction wheel pendulum.- 7.1 Introduction.- 7.2 The reaction wheel pendulum.- 7.3 First energy-based control design.- 7.4 Second energy-based controller.- 7.5 Simulation results.- 7.6 Conclusions.- 7.7 Generalization for Euler-Lagrange systems.- 8 The planar flexible-joint robot.- 8.1 Introduction.- 8.2 The two-link planar robot.- 8.3 Control law for the two-link manipulator.- 8.4 Stability analysis.- 8.5 Simulation results.- 8.6 The three-link planar robot.- 8.7 Control law for the three-link robot.- 8.8 Stability analysis.- 8.9 Simulation results.- 8.10 Conclusions.- 9 The PPR planar manipulator.- 9.1 Introduction.- 9.2 System dynamics.- 9.3 Energy-based stabilizing control law.- 9.4 Convergence and stability analysis.- 9.5 Simulation results.- 9.6 Conclusions.- 10 The ball and beam acting on the ball.- 10.1 Introduction.- 10.2 Dynamical model.- 10.3 The control law.- 10.4 Simulation results.- 10.5 Conclusions.- 11 The hovercraft model.- 11.1 Introduction.- 11.2 The hovercraft model.- 11.3 Stabilizing control law for the velocity.- 11.4 Stabilization of the position>.- 11.5 Simulation results.- 11.6 Conclusions.- 12 The PVTOL aircraft.- 12.1 Introduction.- 12.2 The PVTOL aircraft model.- 12.3 Input-output linearization of the system.- 12.4 Second stabilization approach.- 12.5 Third stabilization algorithm.- 12.6 Forwarding control law.- 12.7 Simulation results.- 12.8 Conclusions.- 13 Helicopter on a platform.- 13.1 Introduction.- 13.2 General considerations.- 13.3 The helicopter-platform model.- 13.4 Dissipativity properties of the 3-DOF model.- 13.5 Control design.- 13.6 Simulation results.- 13.7 Conclusions.- 14 Lagrangian helicopter model.- 14.1 Introduction.- 14.2 Helicopter model.- 14.3 Energy-based control design.- 14.4 Analysis and simulations.- 14.5 Conclusions.- 15 Newtonian helicopter model.- 15.1 Introduction.- 15.2 Modeling a helicopter using Newton's laws.- 15.3 New dynamic model for control design.- 15.4 Lyapunov-based tracking control design.- 15.5 Analysis.- 15.6 Simulations.- 15.7 Conclusions.

Rezensionen

From the reviews of the first edition:

"This is an application-oriented book that is intended for engineers, graduate students, and researchers who are interested in the design of nonlinear controllers for underactuated mechanical systems. ... Non-linear Control for Underactuated Mechanical Systems is an excellent source for the development of control strategies for an important class of problems, viz, the underactuated mechanical systems. The book is clearly written, and the ideas are conveyed well by the authors. ... It is strongly recommended for individuals and libraries." (SC Sinha, Applied Mechanics Reviews, Vol. 55 (4), 2002)