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Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems
This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active fiel...
Robust Control-Oriented Linear Fractional Transform Modelling
This book covers a new paradigm of system modeling – the robust control-oriented linear fractional transformation (LFT) modeling. A dynamic system expressed in LFT modeling framework paves the way for the application of modern robust controller design technique like μ-synthesis method for controller design. This book covers the generalized robust control-oriented LFT modeling representation of the MIMO system depending upon the uncertainty structure, system dynamics, and the dimensions of the input–output. The modeling framework results into a compact and manageable representation of uncertainty modeling in the form of feedback-like structure that is suitable for design and implementation of the robust control technique like μ-synthesis-based H∞ control theory. This book also describes the application of the proposed methodology in a variety of advanced mechatronic systems like the Twin Rotor MIMO system, wheeled mobile robot, and an industrial robot arm.
Advances in Computing, Communication, and Control
This book constitutes the refereed proceedings of the Third International Conference on Advances in Computing, Communication and Control, ICAC3 2013, held in Mumbai, India, in January 2013. The 69 papers presented in this volume were carefully reviewed and selected for inclusion in the book. They deal with topics such as image processing, artificial intelligence, robotics, wireless communications; data warehousing and mining, and are organized in topical sections named: computing; communication; control; and others.
Mechatronics And Manufacturing Technologies - Proceedings Of The International Conference (Mmt 2016)
Held in Wuhan of China from August 20-21, 2016, the 2016 International Conference on Mechatronics and Manufacturing Technologies (MMT2016) provides an excellent international academic forum for all the researchers and practitioners to share resources, exchange opinions and inspire studying.The conference enjoys a wide spread participation among all over the universities and research institutes. It provides a broad overview of the latest research results on related fields and also a significant platform for academic connection and exchange.MMT2016 proceedings collects together 96 articles, after peer-review, to report on state-of-art developments of mechanical engineering based on originality, significance and clarity for the purpose of the Conference.
Modelling and Simulation in Science, Technology and Engineering Mathematics
This volume contains the peer-reviewed proceedings of the International Conference on Modelling and Simulation (MS-17), held in Kolkata, India, 4th-5th November 2017, organized by the Association for the Advancement of Modelling and Simulation Techniques in Enterprises (AMSE, France) in association with the Institution of Engineering Technology (IET, UK), Kolkata Network. The contributions contained here showcase some recent advances in modelling and simulation across various aspects of science and technology. This book brings together articles describing applications of modelling and simulation techniques in fields as diverse as physics, mathematics, electrical engineering, industrial electronics, control, automation, power systems, energy and robotics. It includes a special section on mechanical, fuzzy, optical and opto-electronic control of oscillations. It provides a snapshot of the state of the art in modelling and simulation methods and their applications, and will be of interest to researchers and engineering professionals from industry, academia and research organizations.
Progress in Computing, Analytics and Networking
This book focuses on new and original research ideas and findings in three broad areas: computing, analytics, and networking and their potential applications in the various domains of engineering – an emerging, interdisciplinary area in which a wide range of theories and methodologies are being investigated and developed to tackle complex and challenging real-world problems. The book also features keynote presentations and papers from the International Conference on Computing Analytics and Networking (ICCAN 2019), which offers an open forum for scientists, researchers and technocrats in academia and industry from around the globe to present and share state-of-the-art concepts, prototypes, and innovative research ideas in diverse fields. Providing inspiration for postgraduate students and young researchers working in the field of computer science & engineering, the book also discusses hardware technologies and future communication technologies, making it useful for those in the field of electronics.
Advances in Signal Processing, Embedded Systems and IoT
The book discusses the latest developments and outlines future trends in the fields of microelectronics, electromagnetics and telecommunication. It contains original research works presented at the International Conference on Microelectronics, Electromagnetics and Telecommunication (ICMEET 2022), held in Bheemavaram, West Godavari (Dist), Andhra Pradesh, India during 22 – 23 July 2022. The papers were written by scientists, research scholars and practitioners from leading universities, engineering colleges and R&D institutes from all over the world, and share the latest breakthroughs in and promising solutions to the most important issues facing today’s society.
The Role of IoT and Blockchain
This volume provides informative chapters on the emerging issues, challenges, and new methods and state-of-the-art technologies on the Internet of Things and blockchain technology. It presents case studies and solutions that can be applied in the current business scenario, resolving challenges and providing solutions by integrating IoT with blockchain technology. The chapters discuss how the Internet of Things (IoT) represents a revolution of the Internet that can connect nearly all environment devices over the Internet to share data to create novel services and applications for improving quality of life. Although the centralized IoT system provides countless benefits, it raises several challenges. The volume presents IoT techniques and methodologies, blockchain techniques and methodologies, and case studies and applications for data mining algorithms, heart rate monitoring, climate prediction, disease prediction, security issues, automotive supply chains, voting prediction, forecasting particulate matter pollution, customer relationship management, and more.
Hydraulically Actuated Hexapod Robots
Legged robots are a promising locomotion system, capable of performing tasks that conventional vehicles cannot. Even more exciting is the fact that this is a rapidly developing field of study for researchers from a variety of disciplines. However, only a few books have been published on the subject of multi-legged robots. The main objective of this book is to describe some of the major control issues concerning walking robots that the authors have faced over the past 10 years. A second objective is to focus especially on very large hydraulically driven hexapod robot locomotion weighing more than 2,000 kg, making this the first specialized book on this topic. The 10 chapters of the book touch on diverse relevant topics such as design aspects, implementation issues, modeling for control, navigation and control, force and impedance control-based walking, fully autonomous walking, walking and working tasks of hexapod robots, and the future of walking robots. The construction machines of the future will very likely resemble hydraulically driven hexapod robots like the ones described in this book – no longer science fiction but now a reality.
