Model-Based Tracking Control of Nonlinear Systems: 1st Edition (Hardback) book cover

Model-Based Tracking Control of Nonlinear Systems

1st Edition

By Elzbieta Jarzebowska

Chapman and Hall/CRC

315 pages | 93 B/W Illus.

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Hardback: 9781439819814
pub: 2012-07-17
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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

Table of Contents


Scope and Outline

Mechanics and Nonlinear Control

Role of Modeling in a Control Design Process

Dynamics Modeling of Constrained Systems

Introduction—Art of Modeling

Constrained Systems

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

Concluding Remarks

Problems and References appear at the end of each chapter.

About the Author

Elzbieta Jarzebowska is an associate professor in the Institute of Aeronautics and Applied Mechanics at the Warsaw University of Technology. She is a member of ASME, IEEE, GAMM, IFToMM Technical Committee of Mechatronics, and International SAR. Her research and teaching interests encompass dynamics modeling and analysis of multibody systems, nonlinear control of multibody systems, and geometric control theory.

About the Series

Modern Mechanics and Mathematics

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Subject Categories

BISAC Subject Codes/Headings:
SCIENCE / Mechanics / General