But for all of this activity, in the three years that i have been concerned with the control of machines with friction, i have but once met a fellow controls engineer who was aware that the field existed, this including many who were. Journal of dynamic systems, measurement, and control 141. May 12, 2008 dadfarnia, mohsen, jalili, nader, and dawson, darren m. The ordinary lyapunov function is used to test whether a dynamical system is stable more restrictively, asymptotically stable. Lyapunovbased control of mechanical systems springerlink. Lyapunovbased nonlinear control the research is focused on the development and application of a lyapunovbased control methodology, which incorporates the full nonlinear system dynamics in the design and analysis without requiring the solution of the nonlinear equations of motion.
Lyapunovbased control of robotic systems automation and control engineering aman behal, warren dixon, darren m. Provides connections between lyapunovbased matrix approach and the transfer function based polynomial approaches. Restoration of arm function is necessary to resuming activities of daily living adl. On the other hand, recent technological advances have produced many realworld engineering applications that require the automatic con trol of mechanical systems. Arts lab, scuola superiore santanna, pisa, italy department of information engineering, univ. Over 10 million scientific documents at your fingertips. Closed loop control is achieved by modulating shape parameters. Continuoustime nonlinear system x fx x, 0 with state x tr. Request pdf lyapunovbased control of mechanical systems friction is a natural phenomenon that affects almost all motion. Proceedings of the asme 2003 international mechanical engineering congress and exposition. Introduction to system identification the goal of system identification is to utilize inputoutput experimental data to determine a systems model.
A trend of investigation of nonlinear control systems has been present over the last few decades. Practical application of uncertainty analysis in nonlinear dynamical systems. Lyapunovbased stability and construction of lyapunov. Robust lyapunovbased feedback control of nonlinear webwinding systemsy matthew d. Kellett and teel, on the robustness of klstability for difference inclusions. Lyapunov functions for nonlinear discretetime systems. Lyapunov based switched systems control by tenghu cheng august 2015 chair. Lyapunovbased control of robotic systems automation and. A lyapunovbased approach for the control of biomimetic robotic systems with periodic forcing inputs domenico campolo.
Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurementrelated issues, the authors use lyapunovs direct method as an effective tool to design and. Lyapunov based optimal control of a class of nonlinear systems by hassan zargarzadeh a dissertation presented to the faculty of the graduate school of the missouri university of science and technology in partial fulfillment of the requirements for the degree doctor of philosophy in electrical engineering 2012 approved jagannathan sarangapani. Download it once and read it on your kindle device, pc, phones or tablets. Lyapunovbased control of mechanical systems control. Lyapunovbased control of mechanical systems marcio s. Lyapunovbased controller for the inverted pendulum cart. Starting from a simple, marginally stable model considered for lyapunov based boundary control of flexible mechanical systems, we add a term driving an instability and prove that for an. Click download or read online button to nonlinearcontrolofengineeringsystemsalyapunovbasedapproachcontrolengineering book pdf for free now.
Feedback linearization methods are wildly used for nonlinear systems. An investigation of damping mechanisms in translational. Mechanical engineering switched systems theory consists of tools developed for systems containing a combination of continuous and discrete dynamics. Recent advancements in lyapunov based design and analysis techniques have applications to a broad class of engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems. Full text of nonlinear control of engineering systems.
Lyapunov based controller for the inverted pendulum car t. Lyapunovbased control of mechanical systems semantic scholar. This paper addresses the design of a robust lyapunovbased controller for flexible joint electrically driven robots fjer using voltage control strategy. Nevertheless, as a result of the underactuated nature of flexible arms, the exact feedback linearization method 21 cannot be employed for such mechanical systems. Lyapunov based nonlinear control the research is focused on the development and application of a lyapunov based control methodology, which incorporates the full nonlinear system dynamics in the design and analysis without requiring the solution of the nonlinear equations of motion. To simplify the control problem, the proposed approach is free from the mechanical dynamics of the actuators, however, is related to the electrical dynamics and manipulator dynamics. Constraints using lyapunovbased predictive control prashant mhaskar, nael h. Adaptive control control methods for uncertain nonlinear systems. Use features like bookmarks, note taking and highlighting while reading lyapunov based control of mechanical systems control engineering. An investigation of damping mechanisms in translational eulerbernoulli beams using a lyapunov based stability approach. It is strongly recommended for purchase both by libraries and individual researchers. Lyapunovbased switched systems control by tenghu cheng august 2015 chair.
This is in contrast to lyapunov stability which concerns the. Robust lyapunovbased control of flexiblejoint robots. Click read now pdf download, get it for free, register 100% easily. Department of mechanical and aerospace engineering, university of.
The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades. Lyapunovbased control of mechanical systems applied. In control theory, a controllyapunov function is a lyapunov function for a system with control inputs. Department of mechanical and aerospace engineering, university of florida, gainesville, fl 326116250. A linear state space approach is an ideal book for first year graduate students taking a course in robust control in aerospace, mechanical, or electrical engineering. Click download or read online button to nonlinearcontrolofengineeringsystemsalyapunovbasedapproachcontrolengineering book pdf. This book includes nonlinear design topics such as feedback linearization, lyapunov based control, adaptive control, optimal control and robust control. The pendulum is free to rotate about its pivot point. Nevertheless, as a result of the underactuated nature of flexible arms, the exact feedback linearization method 21. As a result the methods for its analysis and design have improved rapidly. Combined and passivity control for networked control systems with random gain fluctuations and sojourn probabilities.
A nonlinear control force is presented to stabilize the underactuated inverted pendulum mounted on a cart. Wal l a new approach to adaptive model reference control, based on lyapunovs direc methodt, is presented. Lyapunovbased control of mechanical systems 2000 marcio s. The control strategy is based on partial feedback linearization, in a first stage, to linearize only the actuated coordinate of the inverted pendulum, and then, a suitable lyapunov function is formed to obtain a stabilizing feedback controller. Pdf anthropomorphic mechanical design and lyapunovbased. Dawson, bin xian lyapunovbased control of robotic systems describes nonlinear control design solutions for problems that arise from robots. Lyapunov based model reference adaptive control for aerial. It is well known that every mechanical appliances behavior noticeably depends on environmental changes, functioningmode parameter changes and changes in technical characteristics of internal functional devices. Lyapunovbased control of robotic systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Eml6229intro to random dynamical systems analysis of stochastic systems found in science and engineering applications. The term passivity based control pbc was coined in 1989 in the context of adaptive control of.
Lyapunovbased tracking control in the presence of uncertain nonlinear parameterizable friction c. Adaptive control systems are one of the most significant research directions of modern control theory. This book provides a practical yet rigorous development of nonlinear, lyapunovbased tools and their use in the solution of controltheoretic problems. Lyapunov stability analysis for feedback control design. Use features like bookmarks, note taking and highlighting while reading lyapunovbased control of mechanical systems control engineering. The design of nonlinear controllers for mechanical systems has been an ex. Lyapunov theory based robust control of complicated nonlinear. Introduction mechanical systems electric machines robotic systems aerospace systems. Lyapunov based optimal control of a class of nonlinear systems. Lyapunov based control of robotic systems automation and control engineering aman behal, warren dixon, darren m. Lyapunovbased control of mechanical systems is a very valuable addition to the literature on control of mechanical systems, nonlinear control methods, adaptive control, and control of the infinite dimensional systems. A new lyapunov based robust control for uncertain mechanical systems.
Discontinuous discretetime systems kellett and andrew r. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurementrelated issues, the authors use lyapunovs direct method as an effective. All chapters discuss different applications that are basically. Nov 30, 2016 adaptive control systems are one of the most significant research directions of modern control theory. Lyapunovbased control of robotic systems 1st edition. Dadfarnia, mohsen, jalili, nader, and dawson, darren m. Request pdf lyapunovbased control of mechanical systems the synthesis of controllers basically involves two steps. This book provides a practical yet rigorous development of nonlinear, lyapunov based tools and their use in the solution of control theoretic problems. Lyapunov control of quantum systems with impulsive control. This paper addresses the design of a robust lyapunov based controller for flexible joint electrically driven robots fjer using voltage control strategy. Article pdf available in ieee control systems magazine 252. Recent advancements in lyapunovbased design and analysis techniques have applications to a broad class of engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems.
Lyapunovbased control of mechanical systems request pdf. Nonlinearcontrolofengineeringsystemsalyapunovbasedapproachcontrolengineering download nonlinearcontrolofengineeringsystemsalyapunovbasedapproachcontrolengineering ebook pdf or read online books in pdf, epub, and mobi format. This study presents a general control law based on lyapunovs direct method for a group of wellknown stochastic chaotic systems. Sep 01, 2001 lyapunov based control of mechanical systems is a very valuable addition to the literature on control of mechanical systems, nonlinear control methods, adaptive control, and control of the infinite dimensional systems. An adaptive robust approach to modeling and control of. Since real chaotic systems have undesired randomlike behaviors which have also been deteriorated by environmental noise, chaotic systems are modeled by exciting a deterministic chaotic system with a white noise obtained from derivative of wiener process which. An investigation of damping mechanisms in translational eulerbernoulli beams using a lyapunovbased stability approach. Lyapunov stability analysis for feedback control design lyapunov theorems lyapunov analysis allows one to analyze the stability of continuoustime dynamical systems and discretetime dynamical systems of the form. Lyapunov based model reference adaptive control for aerial manipulation matko orsag, christopher korpela, stjepan bogdan, and paul oh abstractthis paper presents a control scheme to achieve dynamic stability in an aerial vehicle with dual multidegree of freedom manipulators using a lyapunov based model reference adaptive control. Stabilization of nonlinear systems with state and control.
For example, one may apply to the system a specific input u, measure the observed discretetime output y an try to determine the systems transfer function cf. Lyapunov based control of mechanical systems control engineering kindle edition by queiroz, marcio s. Nonlinear control of engineering systems internet archive. Lyapunov based adaptive control method for hydraulic servo. The device consists of a pole whose pivot point is mounted on a cart. System identification from inputoutput experimental data. Download pdf nonlinearcontrolofengineeringsystemsa. Lyapunovbased controller for a class of stochastic.
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