2012, ISBN: 9781439819814

'Preface The book presents model-based control methods and techniques for nonlinear, specifically constrained, systems. It focuses on constructive control design methods with an emphasis … Mehr…

'Preface The book presents model-based control methods and techniques for nonlinear, specifically constrained, systems. It focuses on constructive control design methods with an emphasis on modeling constrained systems, generating dynamic control models,and designing tracking control algorithms for them. Actually, an active research geared by applications continues on dynamics and control of constrained systems. It is reflected by numerous research papers, monographs, and research reports. Many of them are listed at the end of each book chapter, but it is impossible to make the list complete. The book is not aimed at the survey of existing modeling, tracking, and stabilization design methods and algorithms. It offers some generalization of a tracking control design for constrained mechanical systems for which constraints can be of the programmed type and of arbitrary order. This generalization is developed throughout the book in accordance with the three main steps of a control design project, i.e., model building, controller design, and a controller implementation. The book content focuses on model building and, based upon this model that consists of the generalized programmed motion equations, on a presentation of new tracking control strategy architecture. The author would like to thank the editors at Taylor & Francis for their support in the book edition; Karol Pietrak, a Ph.D. candidate at Warsaw University of Technology, Warsaw, Poland, for excellent figure drawings in the book, and Maria Sanjuan-Janiec for the original book cover design'-- Buch (fremdspr.) Elzbieta Jarzebowska gebundene Ausgabe, Taylor & Francis Ltd., 17.07.2012, Taylor & Francis Ltd., 2012<

ISBN: 9781439819814

'Preface The book presents model-based control methods and techniques for nonlinear, specifically constrained, systems. It focuses on constructive control design methods with an emphasis … Mehr…

'Preface The book presents model-based control methods and techniques for nonlinear, specifically constrained, systems. It focuses on constructive control design methods with an emphasis on modeling constrained systems, generating dynamic control models,and designing tracking control algorithms for them. Actually, an active research geared by applications continues on dynamics and control of constrained systems. It is reflected by numerous research papers, monographs, and research reports. Many of them are listed at the end of each book chapter, but it is impossible to make the list complete. The book is not aimed at the survey of existing modeling, tracking, and stabilization design methods and algorithms. It offers some generalization of a tracking control design for constrained mechanical systems for which constraints can be of the programmed type and of arbitrary order. This generalization is developed throughout the book in accordance with the three main steps of a control design project, i.e., model building, controller design, and a controller implementation. The book content focuses on model building and, based upon this model that consists of the generalized programmed motion equations, on a presentation of new tracking control strategy architecture. The author would like to thank the editors at Taylor & Francis for their support in the book edition; Karol Pietrak, a Ph.D. candidate at Warsaw University of Technology, Warsaw, Poland, for excellent figure drawings in the book, and Maria Sanjuan-Janiec for the original book cover design'-- Bücher > Fremdsprachige Bücher > Englische Bücher 238 x 159 x 22 mm , Taylor and Francis, Elzbieta Jarzebowska, Taylor and Francis, ta J<

ISBN: 9781439819814

'Preface The book presents model-based control methods and techniques for nonlinear, specifically constrained, systems. It focuses on constructive control design methods with an emphasis … Mehr…

'Preface The book presents model-based control methods and techniques for nonlinear, specifically constrained, systems. It focuses on constructive control design methods with an emphasis on modeling constrained systems, generating dynamic control models,and designing tracking control algorithms for them. Actually, an active research geared by applications continues on dynamics and control of constrained systems. It is reflected by numerous research papers, monographs, and research reports. Many of them are listed at the end of each book chapter, but it is impossible to make the list complete. The book is not aimed at the survey of existing modeling, tracking, and stabilization design methods and algorithms. It offers some generalization of a tracking control design for constrained mechanical systems for which constraints can be of the programmed type and of arbitrary order. This generalization is developed throughout the book in accordance with the three main steps of a control design project, i.e., model building, controller design, and a controller implementation. The book content focuses on model building and, based upon this model that consists of the generalized programmed motion equations, on a presentation of new tracking control strategy architecture. The author would like to thank the editors at Taylor & Francis for their support in the book edition; Karol Pietrak, a Ph.D. candidate at Warsaw University of Technology, Warsaw, Poland, for excellent figure drawings in the book, and Maria Sanjuan-Janiec for the original book cover design'-- Bücher > Fremdsprachige Bücher > Englische Bücher 238 x 159 x 22 mm , Taylor and Francis, Taylor and Francis<

ISBN: 9781439819814

Model-Based Control of Nonlinear Systems presents model-based control techniques for nonlinear, constrained systems. It covers constructive control design methods with an emphasis on mode… Mehr…

Model-Based Control of Nonlinear Systems presents model-based control techniques for nonlinear, constrained systems. It covers constructive control design methods with an emphasis on modeling constrained systems, generating dynamic control models, and designing tracking control algorithms for the models.The book’s interdisciplinary approach illustrates how system modeling and control theory are essential to control design projects. Organized according to the steps in a control design project, the text first discusses kinematic and dynamic modeling methods, including programmed constraints, Lagrange’s equations, Boltzmann−Hamel equations, and generalized programmed motion equations. The next chapter describes basic control concepts and the use of nonlinear control theory. After exploring stabilization strategies for nonlinear systems, the author presents existing model-based tracking control algorithms and path-following'strategies for nonlinear systems. The final chapter develops a new model reference tracking strategy for programmed motion.Throughout the text, two examples of mechanical systems are used to illustrate the theory and simulation results. The first example is a unicycle model (nonholonomic system) and the second is a two-link planar manipulator model (holonomic system). With a focus on constructive modeling and control methods, this book provides the tools and techniques to support the control design process. Trade Books>Hardcover>Science>Mathematics>Mathematics, Taylor & Francis Core >2<