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E-raamat: Control Design and Analysis for Underactuated Robotic Systems

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  • Ilmumisaeg: 03-Jan-2014
  • Kirjastus: Springer London Ltd
  • Keel: eng
  • ISBN-13: 9781447162513
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Control Design and Analysis for Underactuated Robotic SystemsSuurem pilt
  • Formaat: PDF+DRM
  • Ilmumisaeg: 03-Jan-2014
  • Kirjastus: Springer London Ltd
  • Keel: eng
  • ISBN-13: 9781447162513
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The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs).Control Design and Analysis for UnderactuatedRobotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs.

Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design and analysis presented in a systematic way particularly for the following examples:

l directly and remotely driven Acrobots

l Pendubot

l rotational pendulum

l counter-weighted Acrobot

2-link underactuated robot with flexible elbow joint

l variable-length pendulum

l 3-link gymnastic robot with passive first joint

l n-link planar robot with passive first joint

l n-link planar robot with passive single joint

double, or two parallel pendulums on a cart

l 3-link planar robots with underactuation degree two

2-link free flying robot

The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum.

Control Design and Analysis for UnderactuatedRobotic Systems is intended for advanced undergraduate and graduate students and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.



This book details control design and analysis for underactuated robotic systems (URS) and for a class of URS including strictly global motion analysis results for URS with multiple-degree-of-freedom and/or two degrees of underactuation.

Arvustused

The book will be convenient for the reader who aims at analyzing the behavior of underactuated systems and developing new numerical and analytical control tools for these systems. The book is intended for undergraduate and graduate students, and researchers in the area of control systems, mechanical and robotic systems, nonlinear systems and oscillation. (Clementina D. Mladenova, Mathematical Reviews, April, 2017)

1 Introduction 1(18)
1.1 Nonholonomic Systems via Underactuated Systems
1(2)
1.2 Models
3(4)
1.2.1 First- and Second-Order Nonholonomic Constraints
3(2)
1.2.2 Kinematic and Dynamics Models
5(2)
1.3 Control Design and Analysis Problems
7(1)
1.4 Objective and Contents of This Book
8(11)
1.4.1 Underactuated Robotic Systems
8(1)
1.4.2 Contents and Features
9(10)
2 Fundamental Background 19(28)
2.1 Lyapunov Stability Theory
19(9)
2.1.1 Basic Knowledge
19(1)
2.1.2 Direct Method of Lyapunov
20(2)
2.1.3 LaSalle's Invariance Principle
22(1)
2.1.4 Indirect Method of Lyapunov
23(3)
2.1.5 Theorems for Manifolds and Homoclinic Orbits
26(2)
2.2 n-Link Planar Robot
28(7)
2.2.1 Motion Equations
28(5)
2.2.2 Properties of Robot
33(2)
2.3 Three 2-Link Planar Robots
35(6)
2.3.1 Motion Equations
35(3)
2.3.2 Equilibrium Configurations
38(1)
2.3.3 Linearization and Linear Controllability
39(2)
2.4 Control for Underactuated Robotic Systems
41(3)
2.4.1 Partial Feedback Linearization
41(1)
2.4.2 Energy-Based Control Approach
42(2)
2.5 Useful Inequalities
44(3)
3 Directly Driven Acrobot 47(24)
3.1 Introduction
47(1)
3.2 Problem Formulation
48(1)
3.3 Swing-up Controller
48(3)
3.4 Global Motion Analysis
51(13)
3.4.1 Convergence of Energy
52(4)
3.4.2 Closed-Loop Equilibrium Points
56(8)
3.5 Discussion
64(1)
3.6 Locally Stabilizing Control
65(1)
3.7 Simulation Results
66(3)
3.8 Conclusion
69(2)
4 Remotely Driven Acrobot 71(24)
4.1 Introduction
71(1)
4.2 Swing-up Controller
72(2)
4.3 Global Motion Analysis
74(5)
4.4 Experimental Setup
79(2)
4.5 Simulation and Experimental Results
81(11)
4.6 Conclusion
92(3)
5 Pendubot 95(14)
5.1 Introduction
95(1)
5.2 Swing-up Controller
96(3)
5.3 Global Motion Analysis
99(5)
5.4 Simulation Results
104(3)
5.5 Conclusion
107(2)
6 Rotational Pendulum 109(18)
6.1 Introduction
109(1)
6.2 Preliminary Knowledge
110(1)
6.3 Swing-up Controller
111(3)
6.4 Global Motion Analysis
114(3)
6.5 Simulation Results for Rotational Pendulum 1
117(1)
6.6 Experimental Verification for Rotational Pendulum 2
118(7)
6.6.1 Experimental Setup
120(1)
6.6.2 Swing-up and Stabilizing Control
121(4)
6.7 Conclusion
125(2)
7 Counter-Weighted Acrobot 127(12)
7.1 Introduction
127(1)
7.2 Preliminary Knowledge and Problem Formulation
128(1)
7.2.1 Motion Equation
128(1)
7.2.2 Problem Formulation
129(1)
7.3 Linear Controllability
129(1)
7.4 Energy-Based Controller
130(1)
7.5 Motion Analysis
131(2)
7.6 Simulation Results
133(3)
7.7 Conclusion
136(3)
8 Variable Length Pendulum 139(16)
8.1 Introduction
139(1)
8.2 Preliminary Knowledge and Problem Formulation
140(1)
8.2.1 Motion Equation
140(1)
8.2.2 Problem Formulation
141(1)
8.3 Controller Designs
141(3)
8.3.1 Using Total Mechanical Energy Shaping
142(1)
8.3.2 Using Partial Energy Shaping
143(1)
8.4 Motion Analysis
144(5)
8.4.1 Convergence of Energy
144(2)
8.4.2 Closed-Loop Equilibrium Points
146(3)
8.5 Simulation Results
149(2)
8.6 Conclusion
151(4)
9 2-Link Underactuated Robot with Flexible Elbow Joint 155(20)
9.1 Introduction
155(1)
9.2 Preliminary Knowledge
156(1)
9.3 Properties of Robot Under Gravity
157(4)
9.3.1 Linear Controllability
158(1)
9.3.2 Active Link Under Constant Torque
159(2)
9.4 PD Control for Robot with Big Spring Constant
161(3)
9.5 Swing-up Controller for Robot with Small Spring Constant
164(6)
9.5.1 Controller Design
165(2)
9.5.2 Motion Analysis
167(3)
9.6 Simulation Results
170(4)
9.6.1 Case of Big Spring Constant
171(1)
9.6.2 Case of Small Spring Constant
172(2)
9.7 Conclusion
174(1)
10 3-Link Planar Robot with Passive First Joint 175(20)
10.1 Introduction
175(1)
10.2 Preliminary Knowledge and Problem Formulation
176(3)
10.2.1 Motion Equation
176(2)
10.2.2 Problem Formulation
178(1)
10.3 Virtual Composite Link and Coordinate Transformation
179(1)
10.4 Swing-up Controller Using Virtual Composite Link
180(3)
10.5 Global Motion Analysis
183(7)
10.5.1 Convergence of Energy
183(3)
10.5.2 Closed-Loop Equilibrium Points
186(4)
10.6 Discussion
190(1)
10.7 Simulation Results
191(2)
10.8 Conclusion
193(2)
11 n-Link Planar Robot with Passive First Joint 195(24)
11.1 Introduction
195(1)
11.2 Problem Formulation
196(1)
11.3 Virtual Composite Links and Coordinate Transformation
197(5)
11.3.1 Virtual Composite Links
197(1)
11.3.2 Coordinate Transformation on Angles of Active Joints .
198(4)
11.4 Swing-up Controller Using Virtual Composite Links
202(3)
11.5 Global Motion Analysis
205(5)
11.5.1 Convergence of Energy
205(1)
11.5.2 Closed-Loop Equilibrium Points
206(4)
11.6 Discussion
210(3)
11.7 Simulation Results
213(3)
11.7.1 Model of 4-Link Planar Robot
213(2)
11.7.2 Time Responses of 4-Link Planar Robot
215(1)
11.8 Conclusion
216(3)
12 n-Link Planar Robot with Single Passive Joint 219(24)
12.1 Introduction
219(1)
12.2 Problem Formulation
220(2)
12.3 Series of Virtual Composite Links and Coordinate Transformation
222(3)
12.4 Swing-up Controller Using Virtual Composite Links
225(2)
12.5 Global Motion Analysis
227(7)
12.5.1 Convergence of Energy
227(2)
12.5.2 Closed-Loop Equilibrium Points
229(5)
12.6 Discussion
234(1)
12.7 Simulation Results for 4-Link Planar Robots
235(4)
12.7.1 Robot with First Passive Joint
236(1)
12.7.2 Robot with Second Passive Joint
237(1)
12.7.3 Robot with Last Passive Joint
238(1)
12.8 Conclusion
239(4)
13 Two Parallel Pendulums on Cart 243(14)
13.1 Introduction
243(1)
13.2 Preliminary Knowledge
244(2)
13.2.1 Motion Equation
244(1)
13.2.2 Swing-up Controller
245(1)
13.3 Convergence of Energy of Each Pendulum
246(4)
13.4 Stability Analysis of Invariant Sets
250(5)
13.5 Simulation Results
255(1)
13.6 Conclusion
255(2)
14 Double Pendulum on Cart 257(20)
14.1 Introduction
257(1)
14.2 Preliminary Knowledge and Problem Formulation
258(2)
14.2.1 Motion Equation
258(1)
14.2.2 Problem Formulation
259(1)
14.3 Energy-Based Controller
260(2)
14.4 Global Motion Analysis
262(10)
14.4.1 Convergence of Energy
262(7)
14.4.2 Closed-Loop Equilibrium Points
269(3)
14.5 Simulation Results
272(4)
14.6 Conclusion
276(1)
15 3-Link Planar Robot with Passive Joints 277(18)
15.1 Introduction
277(1)
15.2 Preliminary Knowledge and Problem Formulation
278(3)
15.2.1 Preliminary Knowledge
278(2)
15.2.2 Problem Formulation
280(1)
15.3 Energy-Based Conroller
281(1)
15.4 Global Motion Analysis
282(10)
15.4.1 Property of Active Link Under Constant Torque
283(4)
15.4.2 Convergence of Energy and Stability of Equilibrium Points
287(5)
15.5 Simulation Results
292(1)
15.6 Conclusion
293(2)
16 2-Link Flying Robot 295(16)
16.1 Introduction
295(1)
16.2 Models of Flying Robot
296(3)
16.3 Problem Formulation
299(1)
16.4 Global Asymptotic Stabilization
300(1)
16.5 Control Designs via Backstepping Approach
301(6)
16.5.1 Virtual Control Input
302(2)
16.5.2 Velocity- and Acceleration-Based Controllers
304(3)
16.6 Discussion
307(1)
16.7 Simulation Results
308(1)
16.8 Conclusion
308(3)
References 311(6)
Index 317
Xin Xin received the B.S. degree in 1987 from the University of Science and Technology of China, China and Ph.D. degree in 1993 from the Southeast University, China. From 1991 to 1993, under the guidance of professor Hidenori Kimura, he did his Ph.D. studies in Osaka University as a co-advised student of China and Japan with the Japanese Government Scholarship. He also received the Doctor degree in engineering in 2000 from Tokyo Institute of Technology. From 1993 to 1995, he was a postdoctoral researcher and then became an associate professor in Southeast University. From 1996 to 1997, he was with the New Energy and Industrial Technology Development, Japan as an advanced industrial technology researcher. From 1997 to 2000, he was an assistant professor of Tokyo Institute of Technology. From 2000, he has been with Okayama Prefectural University as an associate professor, where he is now a professor since 2008. He has over 140 publications in journals, international conferences and book chapters. He received the division paper award of SICE Conference on Control Systems in 2004. His current research interests include robotics, dynamics and control of nonlinear and complex systems.

He has been concentrating on studying URSs for more than a decade. The corresponding research results have been published in 12 international journal papers including IEEE Trans. on Automatic Control, Automatica, IEEE Trans. on Robotics, IEEE Trans. on Control Technology, International Journal of Robust and Nonlinear Control and about 40 refereed conference papers mainly in IEEE Conference on Decision and Control and IFAC world congress.

Yannian Liu received the B.S. degree in electrical engineering from Sichuan University, Chengdu, China in 1988 and the M. S. and Ph.D. from Southeast University, Nanjing, China in 1991 and 1994, respectively. From 1994-1995 she was a postdoctoral researcher in Nanjing University of Aeronautics and Astronautics. From 1996 she was an associate professor in the Control Department of Southeast University. From 1997 to 1999, she was a visiting scholar in the Department of Control and Systems Engineering of Tokyo Institute of Technology. From 2007 to 2010, she was working in the Solution Division of MoMo Alliance Co., Ltd. Okayama, Japan. Her current research interests include robot control and neural network. She has about 20 publications in journals and international conferences and has two Japanese patents.
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