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Nonlinear Systems
This treatment of modern topics related to the control of nonlinear systems is a collection of contributions celebrating the work of Professor Henk Nijmeijer and honoring his 60th birthday. It addresses several topics that have been the core of Professor Nijmeijer’s work, namely: the control of nonlinear systems, geometric control theory, synchronization, coordinated control, convergent systems and the control of underactuated systems. The book presents recent advances in these areas, contributed by leading international researchers in systems and control. In addition to the theoretical questions treated in the text, particular attention is paid to a number of applications including (mobile) robotics, marine vehicles, neural dynamics and mechanical systems generally. This volume provides a broad picture of the analysis and control of nonlinear systems for scientists and engineers with an interest in the interdisciplinary field of systems and control theory. The reader will benefit from the expert participants’ ideas on important open problems with contributions that represent the state of the art in nonlinear control.
Hybrid Systems with Constraints
Control theory is the main subject of this title, in particular analysis and control design for hybrid dynamic systems. The notion of hybrid systems offers a strong theoretical and unified framework to cope with the modeling, analysis and control design of systems where both continuous and discrete dynamics interact. The theory of hybrid systems has been the subject of intensive research over the last decade and a large number of diverse and challenging problems have been investigated. Nevertheless, many important mathematical problems remain open. This book is dedicated mainly to hybrid systems with constraints; taking constraints into account in a dynamic system description has always been...
Stability and Convergence of Mechanical Systems with Unilateral Constraints
While the stability theory for systems with bilateral constraints is a well-established field, this monograph represents a systematic study of mechanical systems with unilateral constraints, such as unilateral contact, impact and friction. Such unilateral constraints give rise to non-smooth dynamical models for which stability theory is developed in this work. The book will be of interest to those working in the field of non-smooth mechanics and dynamics.
Uniform Output Regulation of Nonlinear Systems
This study of the nonlinear output regulation problem embraces local as well as global cases, covering such aspects as controller design and practical implementation issues. From the reviews: "The authors treat the problem of output regulation for a nonlinear control system...[they] develop a global approach to output regulation along familiar lines....I found the book to be ambitious and rigorous, tackling some hard conceptual issues." --IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Optimal Event-Triggered Control Using Adaptive Dynamic Programming
Optimal Event-triggered Control using Adaptive Dynamic Programming discusses event triggered controller design which includes optimal control and event sampling design for linear and nonlinear dynamic systems including networked control systems (NCS) when the system dynamics are both known and uncertain. The NCS are a first step to realize cyber-physical systems (CPS) or industry 4.0 vision. The authors apply several powerful modern control techniques to the design of event-triggered controllers and derive event-trigger condition and demonstrate closed-loop stability. Detailed derivations, rigorous stability proofs, computer simulation examples, and downloadable MATLAB® codes are included f...
Mechanics for a New Millennium
This volume contains the proceedings of the 2000 International Congress of Theoretical and Applied Mechanics. The book captures a snapshot view of the state of the art in the field of mechanics and will be invaluable to engineers and scientists from a variety of disciplines.
Hybrid Feedback Control
"Hybrid systems are those that-unlike classical systems-exhibit both discrete changes, or "jumps", and continuous changes, or "flow." The canonical example of a hybrid system is a bouncing ball: the ball's speed changes continuously between bounces, but there is a discrete jump in velocity each time the ball impacts the ground. Hybrid systems feature widely across disciplines, including in biology, computer science, and mechanical engineering; examples range from fireflies to self-driving cars. Although classical control theory provides powerful tools for analyzing systems that exhibit either flow or jumps, it is ill-equipped to handle hybrid systems, which feature both behaviors. In Hybrid ...
Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems
Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems comprehensively covers kinetic friction in a robotics, mechatronics, and control engineering context. Providing the theory behind kinetic friction, as well as compensation methods and practical solutions, the text is a key companion to studying different control systems. Beginning with a clear introduction to the subject, the book goes on to include three main facets of kinetic friction, starting with phenomena of kinetic friction in drives. This chapter explains friction interfaces and friction effects. Following from this, the next chapter looks at motion dynamics with friction, which introduces dynami...
Informatics in Control, Automation and Robotics
The present book includes a set of selected papers from the seventh "International Conference on Informatics in Control Automation and Robotics" (ICINCO 2010), held in Madeira, Portugal, from 15 to 18 June 2010. The conference was organized in three simultaneous tracks: "Intelligent Control Systems and Optimization", "Robotics and Automation" and "Signal Processing, Systems Modeling and Control". The book is based on the same structure. ICINCO received 320 paper submissions, not including those of workshops or special sessions, from 57 countries, in all continents. After a double blind paper review performed by the Program Committee only 27 submissions were accepted as full papers and thus s...
