Nonlinear control and analytical mechanics: a computational approach
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Boston [u.a.]
Birkhäuser
2000
|
| Schriftenreihe: | Control engineering
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Literaturangaben |
| Beschreibung: | XV, 317 S. graph. Darst. 1 CD-ROM (12 cm) |
| ISBN: | 3764341475 0817641475 |
Internformat
MARC
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| 245 | 1 | 0 | |a Nonlinear control and analytical mechanics |b a computational approach |c Harry G. Kwatny ; Gilmer L. Blankenship |
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Datensatz im Suchindex
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|---|---|
| adam_text | NONLINEAR CONTROL AND ANALYTICAL MECHANICS A COMPUTATIONAL APPROACH
HARRY G. KWATNY GILMER L. BLANKENSHIP WITH 93 ILLUSTRATIONS AND A CD-ROM
BIRKHAUSER BOSTON * BASEL * BERLIN CONTENTS PREFACE XIII 1 INTRODUCTION
1 1.1 SCOPE AND ORGANIZATION 2 1.2 SOFTWARE 4 1.2.1 INSTALLING PROPAC 4
1.2.2 PACKAGE CONTENT 5 2 INTRODUCTION TO DYNAMICAL SYSTEMS 7 2.1
INTRODUCTION 7 2.2 PRELIMINARIES 7 2.3 ORDINARY DIFFERENTIAL EQUATIONS
10 2.4 LYAPUNOV STABILITY 17 2.4.1 AUTONOMOUS SYSTEMS 17 2.4.2 BASIC
STABILITY THEOREMS 19 2.4.3 STABLE, UNSTABLE, AND CENTER MANIFOLDS 29
2.5 PROBLEMS 33 2.6 REFERENCES 35 3 INTRODUCTION TO DIFFERENTIAL
GEOMETRY 37 3.1 INTRODUCTION 37 3.2 MANIFOLDS . . . . 38 3.3 TANGENT
SPACES AND VECTOR FIELDS 50 VII VIII CONTENTS 3.3.1 THE TANGENT SPACE
AND TANGENT BUNDLE 50 3.3.2 THE DIFFERENTIAL MAP 54 3.3.3 COTANGENT
SPACES 56 3.3.4 VECTOR FIELDS AND FLOWS 57 3.3.5 LIE BRACKET 60 3.3.6
COVECTOR FIELDS 62 3.4 DISTRIBUTIONS AND THE FROBENIUS THEOREM 65 3.4.1
DISTRIBUTIONS 65 3.4.2 CODISTRIBUTIONS 70 3.4.3 INVARIANT DISTRIBUTIONS
74 3.4.4 TRANSFORMATION OF VECTOR FIELDS 74 3.4.5 INVOLUTIVE CLOSURE 77
3.5 LIE GROUPS AND ALGEBRAS 80 3.6 PROBLEMS . . . 89 3.7 REFERENCES 89 4
KINEMATICS OF TREE STRUCTURES 91 4.1 INTRODUCTION 91 4.2 KINEMATICS OF
JOINTS 92 4.2.1 THE GEOMETRY OF JOINTS 92 4.2.2 SIMPLE KINEMATIC JOINTS
95 4.2.3 COMPOUND KINEMATIC JOINTS 99 4.2.4 JOINT COMPUTATIONS 101 4.2.5
REMARKS ON CONFIGURATION COORDINATES 104 4.3 CHAIN AND TREE
CONFIGURATIONS 105 4.3.1 CONFIGURATION RELATIONS 108 4.3.2 VELOCITY
RELATIONS IN CHAINS 109 4.3.3 CONFIGURATION AND VELOCITY COMPUTATIONS
110 4.4 PROBLEMS 113 4.5 REFERENCES 115 CONTENTS IX 5 DYNAMICS 117 5.1
INTRODUCTION 117 5.2 POINCARE S EQUATIONS 118 5.2.1 PRELIMINARIES 118
5.2.2 POINCARE S FORM OF LAGRANGE S EQUATIONS 120 5.3 CHAIN AND TREE
CONFIGURATIONS 128 5.3.1 KINETIC ENERGY AND POINCARE S EQUATIONS 128
5.3.2 GENERALIZED FORCE CALCULATIONS 132 5.4 SYSTEMS WITH CONSTRAINTS
143 5.4.1 DIFFERENTIAL CONSTRAINTS 143 5.4.2 HOLONOMY AND INTEGRABILITY
153 5.4.3 CONFIGURATION CONSTRAINTS . 154 5.5 SIMULATION 157 5.5.1
COMPUTING WITH MATHEMATICA 157 5.5.2 COMPUTING WITH SIMULINK 158 5.6
PROBLEMS 160 5.7 REFERENCES 163 6 SMOOTH AFFINE CONTROL SYSTEMS 165 6.1
INTRODUCTION 165 6.2 CONTROLLABILITY 166 6.3 OBSERVABILITY 177 6.4 LOCAL
DECOMPOSITIONS 183 6.5 INPUT-OUTPUT LINEARIZATION 185 6.5.1 SISO CASE
185 6.5.2 MIMO CASE 192 6.6 EXACT (INPUT-STATE) LINEARIZATION 201 6.7
CONTROL VIA DYNAMIC INVERSION 206 6.7.1 TRACKING CONTROL 211 6.7.2
DYNAMIC DECOUPLING CONTROL 213 6.8 DYNAMIC EXTENSION 214 X CONTENTS 6.9
NONLINEAR OBSERVERS V . 218 6.9.1 BASICS OF NONLINEAR OBSERVERS 218
6.9.2 EXPONENTIAL DETECTABILITY 219 6.10 PROBLEMS 220 6.10.1
CONTROLLABILITY 220 6.10.2 FEEDBACK LINEARIZATION 222 6.11 REFERENCES
225 7 ROBUST AND ADAPTIVE CONTROL SYSTEMS 227 7.1 INTRODUCTION 227 7.2
PERTURBATIONS OF FEEDBACK LINEARIZABLE SYSTEMS 228 7.2.1 SISO CASE 228
7.2.2 MIMO CASE 235 7.3 LYAPUNOV REDESIGN FOR MATCHED UNCERTAINTY 237
7.4 ROBUST STABILIZATION VIA BACKSTEPPING 244 7.5 ADAPTIVE CONTROL OF
LINEARIZABLE SYSTEMS 248 7.6 ADAPTIVE CONTROL VIA BACKSTEPPING 258 7.7
ADAPTIVE TRACKING VIA DYNAMIC INVERSION 262 7.8 PROBLEMS 264 7.9
REFERENCES 266 8 VARIABLE STRUCTURE CONTROL 267 8.1 INTRODUCTION 267 8.2
BASIC PROPERTIES OF DISCONTINUOUS SYSTEMS 268 8.3 SLIDING 272 8.4
REACHING 274 8.4.1 BOUNDED CONTROLS . , 274 8.4.2 UNCONSTRAINED CONTROLS
275 8.4.3 A VARIATION FOR UNCONSTRAINED CONTROLS 275 8.4.4 CLOSED LOOP
STABILITY 276 CONTENTS XI 8.5 ROBUSTNESS WITH RESPECT TO MATCHED
UNCERTAINTIES 278 8.6 CHATTERING REDUCTION 279 8.7 COMPUTING TOOLS 282
8.7.1 SLIDING SURFACE COMPUTATIONS 283 8.7.2 SWITCHING CONTROL 283 8.8
BACKSTEPPING DESIGN OF VS CONTROLS 285 8.9 PROBLEMS 302 8.10 REFERENCES
305 APPENDIX A PROPAC 307 A.I GETTING HELP 307 A.2 QUICK REFERENCE
TABLES 307 INDEX 313
|
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| id | DE-604.BV013521389 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T18:47:16Z |
| institution | BVB |
| isbn | 3764341475 0817641475 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-009229363 |
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| owner | DE-703 DE-91G DE-BY-TUM |
| owner_facet | DE-703 DE-91G DE-BY-TUM |
| physical | XV, 317 S. graph. Darst. 1 CD-ROM (12 cm) |
| publishDate | 2000 |
| publishDateSearch | 2000 |
| publishDateSort | 2000 |
| publisher | Birkhäuser |
| record_format | marc |
| series2 | Control engineering |
| spelling | Kwatny, Harry G. Verfasser (DE-588)122469976 aut Nonlinear control and analytical mechanics a computational approach Harry G. Kwatny ; Gilmer L. Blankenship Boston [u.a.] Birkhäuser 2000 XV, 317 S. graph. Darst. 1 CD-ROM (12 cm) txt rdacontent n rdamedia nc rdacarrier Control engineering Literaturangaben Automatic control Mechanics, Analytic Nonlinear control theory Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd rswk-swf Computeralgebra (DE-588)4010449-7 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Theoretische Mechanik (DE-588)4185100-6 gnd rswk-swf Numerisches Verfahren (DE-588)4128130-5 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 s Nichtlineare Kontrolltheorie (DE-588)4475218-0 s Theoretische Mechanik (DE-588)4185100-6 s Computeralgebra (DE-588)4010449-7 s Numerisches Verfahren (DE-588)4128130-5 s DE-604 Blankenship, Gilmer L. 1945- Verfasser (DE-588)122469992 aut HEBIS Datenaustausch Darmstadt application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009229363&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Kwatny, Harry G. Blankenship, Gilmer L. 1945- Nonlinear control and analytical mechanics a computational approach Automatic control Mechanics, Analytic Nonlinear control theory Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd Computeralgebra (DE-588)4010449-7 gnd Reglerentwurf (DE-588)4177447-4 gnd Theoretische Mechanik (DE-588)4185100-6 gnd Numerisches Verfahren (DE-588)4128130-5 gnd |
| subject_GND | (DE-588)4475218-0 (DE-588)4010449-7 (DE-588)4177447-4 (DE-588)4185100-6 (DE-588)4128130-5 |
| title | Nonlinear control and analytical mechanics a computational approach |
| title_auth | Nonlinear control and analytical mechanics a computational approach |
| title_exact_search | Nonlinear control and analytical mechanics a computational approach |
| title_full | Nonlinear control and analytical mechanics a computational approach Harry G. Kwatny ; Gilmer L. Blankenship |
| title_fullStr | Nonlinear control and analytical mechanics a computational approach Harry G. Kwatny ; Gilmer L. Blankenship |
| title_full_unstemmed | Nonlinear control and analytical mechanics a computational approach Harry G. Kwatny ; Gilmer L. Blankenship |
| title_short | Nonlinear control and analytical mechanics |
| title_sort | nonlinear control and analytical mechanics a computational approach |
| title_sub | a computational approach |
| topic | Automatic control Mechanics, Analytic Nonlinear control theory Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd Computeralgebra (DE-588)4010449-7 gnd Reglerentwurf (DE-588)4177447-4 gnd Theoretische Mechanik (DE-588)4185100-6 gnd Numerisches Verfahren (DE-588)4128130-5 gnd |
| topic_facet | Automatic control Mechanics, Analytic Nonlinear control theory Nichtlineare Kontrolltheorie Computeralgebra Reglerentwurf Theoretische Mechanik Numerisches Verfahren |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009229363&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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