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Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems [Kõva köide]

, (Chongqing University, China)
  • Formaat: Hardback, 244 pages, kõrgus x laius: 234x156 mm, kaal: 610 g, 20 Line drawings, color; 64 Line drawings, black and white
  • Sari: Automation and Control Engineering
  • Ilmumisaeg: 29-Dec-2017
  • Kirjastus: CRC Press
  • ISBN-10: 1138089028
  • ISBN-13: 9781138089020
Teised raamatud teemal:
Adaptive and Fault-Tolerant Control of Underactuated Nonlinear SystemsSuurem pilt
  • Formaat: Hardback, 244 pages, kõrgus x laius: 234x156 mm, kaal: 610 g, 20 Line drawings, color; 64 Line drawings, black and white
  • Sari: Automation and Control Engineering
  • Ilmumisaeg: 29-Dec-2017
  • Kirjastus: CRC Press
  • ISBN-10: 1138089028
  • ISBN-13: 9781138089020
Teised raamatud teemal:
Püsilink: https://www.kriso.ee/db/9781138089020.html
Märksõnad:

The purpose of the book is to provide an exposition of recently developed adaptive and fault-tolerant control of underactuated nonlinear systems. Underactuated systems are abundant in real life, ranging from landing vehicles to surface ships and underwater vehicles to spacecrafts. For the tracking and stabilization control of underactuated mechanical systems, many methodologies have been proposed. However, a number of important issues deserve further investigation. In response to these issues, four important problems are solved in this book, including control of underactuated nonlinear systems with input saturation, output-feedback control in the presence of parametric uncertainties, fault-tolerant control of underactuated ships with or without actuator redundancy, and adaptive control of multiple underactauted nonlinear systems, including formation control and flocking control of multiple underactuated systems.

List of Figures
xv
List of Tables
xviii
Symbols and Acronyms xx
1 Introduction
1(8)
1.1 Underactuated Mechanical Systems
1(1)
1.2 Nonholonomic Constraints
1(4)
1.2.1 First-order Nonholonomic Constraint
2(1)
1.2.2 Second-order Nonholonomic Constraint
2(1)
1.2.3 Literature Review of Underactuated Nonlinear Systems
3(2)
1.3 Motivations and Control Objectives
5(4)
Part I Adaptive Control of Underactuated Nonlinear Systems with Input Saturation
2 Adaptive Control of Nonholonomic Mobile Robots with Input Saturation
9(22)
2.1 Introduction
9(1)
2.2 System Model and Problem Statement
10(3)
2.3 Controller Design
13(10)
2.3.1 Adaptive control of kinematic model
13(2)
2.3.2 Adaptive control of dynamic model
15(8)
2.4 Simulation Results
23(6)
2.5 Conclusions
29(1)
2.6 Appendix
29(2)
3 Tracking Control of Underactuated Ships with Input Saturation
31(18)
3.1 Introduction
31(1)
3.2 Problem Formation
32(3)
3.2.1 Underactuated Ship Model
32(2)
3.2.2 Variable Transformation
34(1)
3.3 Controller Design
35(9)
3.4 Simulations
44(2)
3.5 Conclusion
46(1)
3.6 Appendix
46(3)
3.6.1 Proof of Fact 3.1
47(2)
4 Stabilization Control of Underactuated Ships with Input Saturation
49(20)
4.1 Introduction
49(2)
4.2 Problem Formation
51(4)
4.2.1 Underactuated Ship Model
51(1)
4.2.2 Virtual Reference and Variable Transformation
51(4)
4.3 Controller Design
55(10)
4.4 Simulations
65(3)
4.5 Conclusion
68(1)
5 Global Adaptive Stabilization Control of Underactuated Ships with Nussbaum Function
69(18)
5.1 Introduction
69(1)
5.2 A Novel Nassbaum Function and A Key Lemma
70(2)
5.3 Problem Formulation and Controller Design
72(8)
5.3.1 Problem Formulation
72(1)
5.3.2 Ship Dynamics Transformation
73(1)
5.3.3 Controller Design
74(6)
5.4 Simulations
80(3)
5.5 Conclusion
83(4)
Part II Adaptive Output Feedback Control of Underactuated Nonlinear Systems
6 Adaptive Output Feedback Control of Nonholonomic Mobile Robots
87(26)
6.1 Introduction
87(2)
6.2 Robot Model and Problem Formulation
89(1)
6.3 Adaptive State Feedback Control: An Intermediate Step
90(6)
6.3.1 Design of Virtual Control based on Kinematic Model
90(3)
6.3.2 Design of State-feedback Control based on Dynamic Model
93(3)
6.4 Adaptive Output Feedback Control
96(11)
6.4.1 Observer Design
97(1)
6.4.2 Controller and Estimator Design
97(2)
6.4.3 Stability Analysis
99(8)
6.5 Simulation Results
107(1)
6.6 Conclusions
108(5)
7 Adaptive Output Feedback Control of an Underactuated Ship
113(34)
7.1 Introduction
113(2)
7.2 Problem Formulation
115(5)
7.2.1 System Model and Control Objective
115(2)
7.2.2 Performance Characterization and System Transformation
117(3)
7.3 Adaptive State-feedback Control Design
120(5)
7.4 Adaptive Output-feedback Control Design
125(9)
7.4.1 Observer Design
126(1)
7.4.2 Design of Adaptive Controllers and Estimators
127(1)
7.4.3 System Analysis
128(6)
7.5 Simulation Results
134(6)
7.6 Conclusions
140(1)
7.7 Appendix
140(7)
7.7.1 Proof of Fact 7.1
140(1)
7.7.2 Proof of Fact 7.2
141(1)
7.7.3 Proof of Fact 7.3
141(1)
7.7.4 Proof of Fact 7.4
141(6)
Part III Adaptive Fault-Tolerant Control of Underactuated Nonlinear Systems
8 Adaptive Fault-Tolerant Control of Underactuated Ships with Actuator Redundancy
147(20)
8.1 Introduction
147(1)
8.2 Problem Formulation
148(3)
8.3 Design of Adaptive Controllers
151(9)
8.3.1 Ship Dynamics Transformation
151(2)
8.3.2 Controller Design
153(5)
8.3.3 Stability Analysis
158(2)
8.4 Simulation Results
160(5)
8.5 Conclusions
165(2)
9 Adaptive Fault-Tolerant Control of Underactuated Ships without Actuator Redundancy
167(14)
9.1 Introduction
167(1)
9.2 Problem Statement
168(1)
9.3 Controller Design
169(5)
9.4 Simulation Results
174(3)
9.5 Conclusion
177(4)
Part IV Adaptive Control of Multiple Underactuated Nonlinear Systems
10 Adaptive Formation Control of Multiple Nonholonomic Mobile Robots
181(14)
10.1 Introduction
181(1)
10.2 Problem Formulation
182(5)
10.2.1 Change of Coordinates
184(1)
10.2.2 Formation Control Objective
185(2)
10.3 Control Design
187(4)
10.4 Simulation Results
191(3)
10.5 Conclusion
194(1)
11 Adaptive Flocking Control of Multiple Nonholonomic Mobile Robots
195(16)
11.1 Introduction
195(1)
11.2 Problem Formulation
196(4)
11.2.1 Robot Dynamics
196(1)
11.2.2 Robot Dynamics Transformation
197(1)
11.2.3 A p-Time Differential Step Function
198(1)
11.2.4 Formation Control Problem
199(1)
11.3 Control Design
200(7)
11.3.1 Potential Function
200(2)
11.3.2 Flocking Control Design
202(5)
11.4 Simulation Results
207(2)
11.5 Conclusion
209(2)
References 211(6)
Index 217
Jiangshuai Huang received his B.Eng. and M.Sc. degree in School of Automation from Huazhong University of Science & Technology, Wuhan, China in July 2007 and August 2009 respectively, and his PhD degree from the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore in May 2015. He joined the Department of Electrical and Computer Engineering, National University of Singapore, Singapore as a research fellow from August 2014 to January 2016 where his main research focused on the modeling and optimization of Singapore national electricity market. He joined the School of Automation, Chongqing University, Chongqing, China and now he is an assistant professor. His research interests include adaptive control, nonlinear systems control, underactuated mechanical system control, and multi-agent system control.

Yong-Duan Song received his Ph.D. degree in electrical and computer engineering from Tennessee Technological University, Cookeville, USA, in 1992. He held a tenured Full Professor position with North Carolina A&T State University, Greensboro, from 1993 to 2008, and a Langley Distinguished Professor position with the National Institute of Aerospace, Hampton, VA, from 2005 to 2008. He is now the Dean of School of Automation, Chongqing University, and the Founding Director of the Institute of Smart Systems and Renewable Energy, Chongqing University. He was one of the six Langley Distinguished Professors with the National Institute of Aerospace (NIA), Founding Director of Cooperative Systems at NIA. He has served as an Associate Editor/Guest Editor for several prestigious scientific journals. Prof. Song has received several competitive research awards from the National Science Foundation, the National Aeronautics and Space Administration, the U.S. Air Force Office, the U.S. Army Research Office, and the U.S. Naval Research Office. His research interests include intelligent systems, guidance navigation and control, bio-inspired adaptive and cooperative systems, rail traffic control and safety, and smart grid.