Huang, An-Chyau
Adaptive control of underactuated mechanical systems An-Chyau Huang, Yung-Feng Chen, Chen-Yu Kai - New Jersey : World Scientific Pub. Co., c2015. ©2015 - x, 218 p. : ill. ; 24 cm.
""Contents""; ""To Our Families""; ""Preface""; ""Chapter 1""; ""Introduction""; ""Nonholonomic Constraints and Underactuated Systems""; ""Linear/Nonlinear Underactuated Systems""; ""Simple Control by Ignoring the Underactuated Dynamics""; ""Feedback Linearization and Underactuated Systems""; ""Benchmark Underactuated Systems""; ""Control of a Class of Underactuated Systems""; ""Control of Uncertain Underactuated Systems""; ""Function Approximation Based Controller Designs""; ""Multiple-Surface Sliding Control and Mismatched Uncertainties"" ""FAT-based Adaptive Multiple-Surface Sliding Control""""Organization of the Book""; ""Chapter 2""; ""Preliminaries""; ""2.1 Review of Some Mathematical Background""; ""Vector Spaces""; ""Metric Spaces""; ""Normed Vector Spaces""; ""Inner Product Spaces and Hilbert Spaces""; ""Best Approximation Problem in Hilbert Spaces""; ""Orthogonal Functions""; ""Examples of Orthonormal Functions""; ""Function Norms and Normed Function Spaces""; ""Representations for Approximation""; ""2.2 Lyapunov Stability Theory""; ""Concepts of Stability""; ""Lyapunov Stability Theorem for Autonomous Systems"" ""LaSalle�s Theorem (Invariant Set Theorem)""""Lyapunov Stability Theorem for Non-autonomous Systems""; ""Lyapunov-like Analysis: Barbalat�s Lemma""; ""2.3 Frobenius Theorem""; ""2.4 Sliding Control""; ""Smoothed Sliding Control Law""; ""2.5 Adaptive Control""; ""MRAC of LTI Scalar Systems""; ""2.6 Robust Adaptive Control""; ""Dead-Zone""; ""s-modification""; ""2.7 General Uncertainties""; ""MRAC of LTV Systems""; ""Sliding Control for Systems with Unknown Variation Bounds""; ""Bound Estimation for Uncertain Parameter""; ""2.8 FAT-Based Adaptive Controller Design"" ""FAT-based MRAC for LTV Systems""""Consideration of Approximation Error""; ""The Case When the Bound for the Approximation Error is Known""; ""2.9 Backstepping Procedure""; ""2.10 Multiple-Surface Sliding Control""; ""Chapter 3""; ""Underactuated System Dynamics and Coordinate Transformation""; ""3.1 Dynamics of Mechanical Systems""; ""3.2 Underactuated Systems""; ""3.3 Collocated Partial Feedback Linearization""; ""3.4 Decoupling of General Underactuated Systems""; ""3.5 Decoupling for 2-DOF Systems""; ""Decoupling for Models after Partial Feedback Linearization"" ""Decoupling for Models without Feedback Linearization""""3.6 Decoupling of Single-Input High-Order Systems""; ""Decoupling of 3-DOF Systems""; ""Decoupling of n-th Order Systems""; ""Chapter 4""; ""Controller Design""; ""4.1 Control Problem Formulation""; ""Systems with Partial Feedback Linearization""; ""Systems without Partial Feedback Linearization""; ""The Control Problem""; ""4.2 Controller Design""; ""4.3 Summary""; ""Chapter 5""; ""Cart Pole Systems""; ""5.1 System Dynamics""; ""5.2 Coordinate Transformation""; ""5.3 Simulation Cases""; ""Chapter 6""; ""Overhead Cranes""
In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances.
9789814663540
2015451424
Adaptive control systems
629.8/36
Adaptive control of underactuated mechanical systems An-Chyau Huang, Yung-Feng Chen, Chen-Yu Kai - New Jersey : World Scientific Pub. Co., c2015. ©2015 - x, 218 p. : ill. ; 24 cm.
""Contents""; ""To Our Families""; ""Preface""; ""Chapter 1""; ""Introduction""; ""Nonholonomic Constraints and Underactuated Systems""; ""Linear/Nonlinear Underactuated Systems""; ""Simple Control by Ignoring the Underactuated Dynamics""; ""Feedback Linearization and Underactuated Systems""; ""Benchmark Underactuated Systems""; ""Control of a Class of Underactuated Systems""; ""Control of Uncertain Underactuated Systems""; ""Function Approximation Based Controller Designs""; ""Multiple-Surface Sliding Control and Mismatched Uncertainties"" ""FAT-based Adaptive Multiple-Surface Sliding Control""""Organization of the Book""; ""Chapter 2""; ""Preliminaries""; ""2.1 Review of Some Mathematical Background""; ""Vector Spaces""; ""Metric Spaces""; ""Normed Vector Spaces""; ""Inner Product Spaces and Hilbert Spaces""; ""Best Approximation Problem in Hilbert Spaces""; ""Orthogonal Functions""; ""Examples of Orthonormal Functions""; ""Function Norms and Normed Function Spaces""; ""Representations for Approximation""; ""2.2 Lyapunov Stability Theory""; ""Concepts of Stability""; ""Lyapunov Stability Theorem for Autonomous Systems"" ""LaSalle�s Theorem (Invariant Set Theorem)""""Lyapunov Stability Theorem for Non-autonomous Systems""; ""Lyapunov-like Analysis: Barbalat�s Lemma""; ""2.3 Frobenius Theorem""; ""2.4 Sliding Control""; ""Smoothed Sliding Control Law""; ""2.5 Adaptive Control""; ""MRAC of LTI Scalar Systems""; ""2.6 Robust Adaptive Control""; ""Dead-Zone""; ""s-modification""; ""2.7 General Uncertainties""; ""MRAC of LTV Systems""; ""Sliding Control for Systems with Unknown Variation Bounds""; ""Bound Estimation for Uncertain Parameter""; ""2.8 FAT-Based Adaptive Controller Design"" ""FAT-based MRAC for LTV Systems""""Consideration of Approximation Error""; ""The Case When the Bound for the Approximation Error is Known""; ""2.9 Backstepping Procedure""; ""2.10 Multiple-Surface Sliding Control""; ""Chapter 3""; ""Underactuated System Dynamics and Coordinate Transformation""; ""3.1 Dynamics of Mechanical Systems""; ""3.2 Underactuated Systems""; ""3.3 Collocated Partial Feedback Linearization""; ""3.4 Decoupling of General Underactuated Systems""; ""3.5 Decoupling for 2-DOF Systems""; ""Decoupling for Models after Partial Feedback Linearization"" ""Decoupling for Models without Feedback Linearization""""3.6 Decoupling of Single-Input High-Order Systems""; ""Decoupling of 3-DOF Systems""; ""Decoupling of n-th Order Systems""; ""Chapter 4""; ""Controller Design""; ""4.1 Control Problem Formulation""; ""Systems with Partial Feedback Linearization""; ""Systems without Partial Feedback Linearization""; ""The Control Problem""; ""4.2 Controller Design""; ""4.3 Summary""; ""Chapter 5""; ""Cart Pole Systems""; ""5.1 System Dynamics""; ""5.2 Coordinate Transformation""; ""5.3 Simulation Cases""; ""Chapter 6""; ""Overhead Cranes""
In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances.
9789814663540
2015451424
Adaptive control systems
629.8/36