Non-linear control for underactuated mechanical systems:
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
London ; Berlin ; Heidelberg ; New York ; Barcelona ; Hong Kong
Springer
2002
|
| Schriftenreihe: | Communications and control engineering
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XI, 295 S. graph. Darst. |
| ISBN: | 1852334231 |
Internformat
MARC
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| 100 | 1 | |a Fantoni, Isabelle |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Non-linear control for underactuated mechanical systems |c Isabelle Fantoni and Rogelio Lozano |
| 264 | 1 | |a London ; Berlin ; Heidelberg ; New York ; Barcelona ; Hong Kong |b Springer |c 2002 | |
| 300 | |a XI, 295 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Communications and control engineering | |
| 650 | 4 | |a Commande automatique | |
| 650 | 4 | |a Commande non linéaire | |
| 650 | 4 | |a Commande, Théorie de la | |
| 650 | 4 | |a Théories non linéaires | |
| 650 | 4 | |a Automatic control | |
| 650 | 4 | |a Nonlinear theories | |
| 650 | 0 | 7 | |a Mechanisches System |0 (DE-588)4132811-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Nichtlineares dynamisches System |0 (DE-588)4126142-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Nichtlineare Kontrolltheorie |0 (DE-588)4475218-0 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Nichtlineare Regelung |0 (DE-588)4132964-8 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Mechanisches System |0 (DE-588)4132811-5 |D s |
| 689 | 0 | 1 | |a Nichtlineares dynamisches System |0 (DE-588)4126142-2 |D s |
| 689 | 0 | 2 | |a Nichtlineare Regelung |0 (DE-588)4132964-8 |D s |
| 689 | 0 | 3 | |a Nichtlineare Kontrolltheorie |0 (DE-588)4475218-0 |D s |
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| 700 | 1 | |a Lozano, Rogelio |d 1954- |e Verfasser |0 (DE-588)115568271 |4 aut | |
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| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-009468571 | |
Datensatz im Suchindex
| _version_ | 1809768494649049088 |
|---|---|
| adam_text |
Contents
1 Introduction 1
1.1 Motivation 1
1.2 Outline of the book 7
1.2.1 Energy based control approaches for several un
deractuated mechanical systems 7
1.2.2 The hovercraft model, the PVTOL aircraft and
the helicopter 8
2 Theoretical preliminaries 11
2.1 Lyapunov stability 11
2.1.1 Lyapunov direct method 12
2.2 Passivity and dissipativity 14
2.3 Stabilization 15
2.4 Non holonomic systems 17
2.5 Underactuated systems 18
2.6 Homoclinic orbit 19
3 The cart pole system 21
3.1 Introduction 21
3.2 Model derivation 23
3.2.1 System model using Newton's second law . 24
3.2.2 Euler Lagrange's equations 25
3.3 Passivity of the inverted pendulum 27
3.4 Controllability of the linearized model 28
3.5 Stabilizing control law 29
3.5.1 The homoclinic orbit 29
3.5.2 Stabilization around the homoclinic orbit . 29
3.5.3 Domain of attraction 32
3.6 Stability analysis 32
3.7 Simulation results 37
vii
viii CONTENTS
3.8 Experimental results 38
3.9 Conclusions 40
4 A convey crane system 43
4.1 Introduction 43
4.2 Model 43
4.3 Passivity of the system 45
4.4 Damping oscillations control law 46
4.4.1 Asymptotic stability analysis 47
4.5 Simulation results 48
4.6 Concluding remarks 51
5 The pendubot system 53
5.1 Introduction 53
5.2 System dynamics 54
5.2.1 Equations of motion via Euler Lagrange formula¬
tion 55
5.3 Passivity of the pendubot 58
5.4 Linearization of the system 59
5.5 Control law for the top position 60
5.5.1 The homoclinic orbit 60
5.5.2 Stabilization around the homoclinic orbit . 61
5.6 Stability analysis 64
5.7 Simulation results 67
5.8 Experimental results 68
5.9 Conclusions 71
6 The Furuta pendulum 73
6.1 Introduction 73
6.2 Modeling of the system 74
6.2.1 Energy of the system 75
6.2.2 Euler Lagrange dynamic equations 76
6.2.3 Passivity properties of the Furuta pendulum . . 78
6.3 Controllability of the linearized model 78
6.4 Stabilization algorithm 80
6.5 Stability analysis 83
6.6 Simulation results 86
6.7 Conclusions 86
CONTENTS ix
7 The reaction wheel pendulum 89
7.1 Introduction 89
7.2 The reaction wheel pendulum 90
7.2.1 Equations of motion 90
7.2.2 Passivity properties of the system 92
7.2.3 Linearization of the system 93
7.2.4 Feedback linearization 94
7.3 First energy based control design 95
7.4 Second energy based controller 97
7.5 Simulation results 100
7.6 Conclusions 104
7.7 Generalization for Euler Lagrange systems 104
8 The planar flexible joint robot 107
8.1 Introduction 107
8.2 The two link planar robot 108
8.2.1 Equations of motion 108
8.2.2 Linearization of the system 110
8.2.3 Passivity of the system Ill
8.3 Control law for the two link manipulator 112
8.3.1 Equivalent closed loop interconnection 112
8.4 Stability analysis 113
8.5 Simulation results 117
8.6 The three link planar robot 120
8.7 Control law for the three link robot 122
8.8 Stability analysis 123
8.9 Simulation results 125
8.10 Conclusions 125
9 The PPR planar manipulator 129
9.1 Introduction 129
9.2 System dynamics 130
9.2.1 Equations of motion via Euler Lagrange formula¬
tion 132
9.2.2 Passivity properties of the planar PPR manipulator 135
9.3 Energy based stabilizing control law 135
9.3.1 Equivalent closed loop interconnection 136
9.4 Convergence and stability analysis 138
9.5 Simulation results 139
9.6 Conclusions 142
x CONTENTS
10 The ball and beam acting on the ball 143
10.1 Introduction 143
10.2 Dynamical model 144
10.2.1 Mechanical properties 146
10.3 The control law 147
10.3.1 Stability analysis 147
10.4 Simulation results 150
10.5 Conclusions 151
11 The hovercraft model 155
11.1 Introduction 155
11.2 The hovercraft model 157
11.2.1 System model using Newton's second law . 157
11.2.2 Euler Lagrange's equations 159
11.2.3 Controllability of the linearized system 161
11.3 Stabilizing control law for the velocity 162
11.4 Stabilization of the position 163
11.4.1 First approach 163
11.4.2 Second approach 165
11.4.3 Third approach 166
11.5 Simulation results 167
11.6 Conclusions 169
12 The PVTOL aircraft 173
12.1 Introduction 173
12.2 The PVTOL aircraft model 175
12.3 Input output linearization of the system 176
12.4 Second stabilization approach 178
12.5 Third stabilization algorithm 179
12.6 Forwarding control law 179
12.6.1 First step: a Lyapunov function for the altitude
angle (y, #) subsystem 180
12.6.2 Boundedness of 9{t) 181
12.6.3 Second step: forwarding design 182
12.6.4 Third step: last change of coordinates 186
12.7 Simulation results 190
12.8 Conclusions 190
CONTENTS xi
13 Helicopter on a platform 195
13.1 Introduction 195
13.2 General considerations 196
13.2.1 Flight modes 196
13.2.2 Aerodynamic forces and torques 197
13.2.3 Inertia moments and products 205
13.2.4 The general model 208
13.3 The helicopter platform model 209
13.4 Dissipativity properties of the 3 DOF model 215
13.5 Control design 215
13.5.1 Passivity based control of the rotational part . . 216
13.5.2 Take off 216
13.5.3 Altitude control 217
13.6 Simulation results 219
13.6.1 Simulation 1 219
13.6.2 Simulation 2 219
13.7 Conclusions 220
14 Lagrangian helicopter model 225
14.1 Introduction 225
14.2 Helicopter model 227
14.3 Energy based control design 237
14.4 Analysis and simulations 244
14.5 Conclusions 254
15 Newtonian helicopter model 255
15.1 Introduction 255
15.2 Modeling a helicopter using Newton's laws 257
15.3 New dynamic model for control design 260
15.4 Lyapunov based tracking control design 263
15.5 Analysis 272
15.6 Simulations 274
15.7 Conclusions 278
Bibliography 281
Index 293 |
| any_adam_object | 1 |
| author | Fantoni, Isabelle Lozano, Rogelio 1954- |
| author_GND | (DE-588)115568271 |
| author_facet | Fantoni, Isabelle Lozano, Rogelio 1954- |
| author_role | aut aut |
| author_sort | Fantoni, Isabelle |
| author_variant | i f if r l rl |
| building | Verbundindex |
| bvnumber | BV013842073 |
| callnumber-first | T - Technology |
| callnumber-label | TJ213 |
| callnumber-raw | TJ213 |
| callnumber-search | TJ213 |
| callnumber-sort | TJ 3213 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ZQ 5220 |
| ctrlnum | (OCoLC)248115306 (DE-599)BVBBV013842073 |
| dewey-full | 629.8 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8 |
| dewey-search | 629.8 |
| dewey-sort | 3629.8 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV013842073 |
| illustrated | Illustrated |
| indexdate | 2024-09-10T00:55:31Z |
| institution | BVB |
| isbn | 1852334231 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-009468571 |
| oclc_num | 248115306 |
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| owner | DE-703 DE-20 |
| owner_facet | DE-703 DE-20 |
| physical | XI, 295 S. graph. Darst. |
| publishDate | 2002 |
| publishDateSearch | 2002 |
| publishDateSort | 2002 |
| publisher | Springer |
| record_format | marc |
| series2 | Communications and control engineering |
| spelling | Fantoni, Isabelle Verfasser aut Non-linear control for underactuated mechanical systems Isabelle Fantoni and Rogelio Lozano London ; Berlin ; Heidelberg ; New York ; Barcelona ; Hong Kong Springer 2002 XI, 295 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Communications and control engineering Commande automatique Commande non linéaire Commande, Théorie de la Théories non linéaires Automatic control Nonlinear theories Mechanisches System (DE-588)4132811-5 gnd rswk-swf Nichtlineares dynamisches System (DE-588)4126142-2 gnd rswk-swf Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd rswk-swf Nichtlineare Regelung (DE-588)4132964-8 gnd rswk-swf Mechanisches System (DE-588)4132811-5 s Nichtlineares dynamisches System (DE-588)4126142-2 s Nichtlineare Regelung (DE-588)4132964-8 s Nichtlineare Kontrolltheorie (DE-588)4475218-0 s DE-604 Lozano, Rogelio 1954- Verfasser (DE-588)115568271 aut HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009468571&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Fantoni, Isabelle Lozano, Rogelio 1954- Non-linear control for underactuated mechanical systems Commande automatique Commande non linéaire Commande, Théorie de la Théories non linéaires Automatic control Nonlinear theories Mechanisches System (DE-588)4132811-5 gnd Nichtlineares dynamisches System (DE-588)4126142-2 gnd Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd Nichtlineare Regelung (DE-588)4132964-8 gnd |
| subject_GND | (DE-588)4132811-5 (DE-588)4126142-2 (DE-588)4475218-0 (DE-588)4132964-8 |
| title | Non-linear control for underactuated mechanical systems |
| title_auth | Non-linear control for underactuated mechanical systems |
| title_exact_search | Non-linear control for underactuated mechanical systems |
| title_full | Non-linear control for underactuated mechanical systems Isabelle Fantoni and Rogelio Lozano |
| title_fullStr | Non-linear control for underactuated mechanical systems Isabelle Fantoni and Rogelio Lozano |
| title_full_unstemmed | Non-linear control for underactuated mechanical systems Isabelle Fantoni and Rogelio Lozano |
| title_short | Non-linear control for underactuated mechanical systems |
| title_sort | non linear control for underactuated mechanical systems |
| topic | Commande automatique Commande non linéaire Commande, Théorie de la Théories non linéaires Automatic control Nonlinear theories Mechanisches System (DE-588)4132811-5 gnd Nichtlineares dynamisches System (DE-588)4126142-2 gnd Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd Nichtlineare Regelung (DE-588)4132964-8 gnd |
| topic_facet | Commande automatique Commande non linéaire Commande, Théorie de la Théories non linéaires Automatic control Nonlinear theories Mechanisches System Nichtlineares dynamisches System Nichtlineare Kontrolltheorie Nichtlineare Regelung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009468571&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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