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Lyapunov-Based Control of Mechanical Systems

The design of nonlinear controllers for mechanical systems has been an ex­ tremely active area of research in the last two decades. From a theoretical point of view, this attention can be attributed to their interesting dynamic behavior, which makes them suitable benchmarks for nonlinear control the...

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Bibliographic Details
Main Authors: Queiroz, Marcio S. de, Dawson, Darren M. (Author), Nagarkatti, Siddharth P. (Author), Zhang, Fumin (Author)
Format: eBook
Language:English
Published: Boston, MA Birkhäuser 2000, 2000
Edition:1st ed. 2000
Series:Control Engineering
Subjects:
Mechanics, Applied
Control, Robotics, Automation
Control Theory
Systems Theory, Control
Multibody Systems And Mechanical Vibrations
System Theory
Vibration
Control Engineering
Robotics
Multibody Systems
Automation
Online Access:
Collection: Springer Book Archives -2004 - Collection details see MPG.ReNa
Table of Contents:
  • 1 Introduction
  • 1.1 Lyapunov-Based Control
  • 1.2 Rigid Mechanical Systems
  • 1.3 Flexible Mechanical Systems
  • 1.4 Real-Time Control Implementation
  • 2 Control Techniques for Friction Compensation
  • 2.1 Introduction
  • 2.2 Reduced-Order Friction Model
  • 2.3 Control Designs for Reduced-Order Model
  • 2.4 Full-Order Friction Model
  • 2.5 Control Designs for Full-Order Model
  • 2.6 Notes
  • 3 Full-State Feedback Tracking Controllers
  • 3.1 Introduction
  • 3.2 System Model
  • 3.3 Problem Statement
  • 3.4 Standard Adaptive Control
  • 3.5 Desired Trajectory-Based Adaptive Control
  • 3.6 Control/Adaptation Law Modularity
  • 3.7 Notes
  • 4 Output Feedback Tracking Controllers
  • 4.1 Introduction
  • 4.2 Problem Statement
  • 4.3 Model-Based Observer/Control
  • 4.4 Linear Filter-Based Adaptive Control
  • 4.5 Nonlinear Filter-Based Adaptive Control
  • 4.6 Notes
  • 5 Strings and Cables
  • 5.1 Introduction
  • 5.2 Actuator-String System
  • 5.3 Cable System
  • 5.4 Notes
  • 6 Cantilevered Beams
  • 6.1 Introduction
  • 6.2 Euler-Bernoulli Beam
  • 6.3 Timoshenko Beam
  • 6.4 Notes
  • 7 Boundary Control Applications
  • 7.1 Introduction
  • 7.2 Axially Moving String System
  • 7.3 Flexible Link Robot Arm
  • 7.4 Flexible Rotor System
  • 7.5 Notes
  • Appendices
  • A Mathematical Background
  • References
  • B Bounds for General Rigid Mechanical System
  • References
  • C Bounds for the Puma Robot
  • References
  • D Control Programs
  • D.1 DCAL Controller
  • D.2 Flexible Rotor

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