Chapman and Hall/CRC
315 pages | 93 B/W Illus.
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.
"The book addresses dynamic modeling and control design methods for nonlinear mechanical systems. The understanding of the author is that these two topics are closely related and should be studied together. … All chapters are illustrated with examples. Each chapter of the book ends with a list of references. The book is addressed to graduate and postgraduate students as well as to control engineers and researches. A basic course in analytical mechanics and linear control theory is appreciated."
—Zentralblatt MATH 1281
Scope and Outline
Mechanics and Nonlinear Control
Role of Modeling in a Control Design Process
Dynamics Modeling of Constrained Systems
Introduction—Art of Modeling
Equations of Motion for Systems with First-Order Constraints
Equations of Motion for Systems with High-Order Constraints
Introduction to Nonlinear Control Theory
Stability Properties of Nonlinear Systems
Classification of Control Problems
Control Properties of Nonlinear Systems
Kinematic Control Models
Dynamic Control Models
Feedback Linearization of Nonlinear Systems
Models-Based Control Design Methods
Flatness-Based Control Design Methods
Other Control Design Techniques for Nonlinear Systems
Stabilization Strategies for Nonlinear Systems
Model-Based Tracking Control of Nonlinear Systems
A Unified Control-Oriented Model for Constrained Systems
Tracking Control of Holonomic Systems
Tracking Control of First-Order Nonholonomic Systems
Tracking Control of Underactuated Systems
Tracking Control Algorithms Specified in Quasi-Coordinates
Path-Following Strategies for Nonlinear Systems
Path-Following Strategies Based on Kinematic Control Models
Path-Following Strategies Based on Dynamic Control Models
Model Reference Tracking Control of High-Order Nonholonomic Systems
Model Reference Tracking Control Strategy for Programmed Motion
Nonadaptive Tracking Control Algorithms for Programmed Motions
Adaptive Tracking Control Algorithms for Programmed Motions
Learning Tracking Control Algorithms for Programmed Motions
Tracking Control Algorithms for Programmed Motions Specified in Quasi-Coordinates
Tracking Control Algorithms for Programmed Motions with the Velocity Observer
Other Applications of the Model Reference Tracking Control Strategy for Programmed Motion
Problems and References appear at the end of each chapter.