Overview
- Presents a collection of new methods of control for complex dynamical systems, some of them developed by the authors in the past 15 years
- Includes various engineering systems examples such as robotic manipulators, pendular systems, electromechanical systems, electric motors, or multibody systems with dry friction
- Includes supplementary material: sn.pub/extras
Part of the book series: Communications and Control Engineering (CCE)
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About this book
This book is devoted to new methods of control for complex dynamical systems and deals with nonlinear control systems having several degrees of freedom, subjected to unknown disturbances, and containing uncertain parameters. Various constraints are imposed on control inputs and state variables or their combinations. The book contains an introduction to the theory of optimal control and the theory of stability of motion, and also a description of some known methods based on these theories. Major attention is given to new methods of control developed by the authors over the last 15 years. Mechanical and electromechanical systems described by nonlinear Lagrange’s equations are considered. General methods are proposed for an effective construction of the required control, often in an explicit form. The book contains various techniques including the decomposition of nonlinear control systems with many degrees of freedom, piecewise linear feedback control based on Lyapunov’s functions, methods which elaborate and extend the approaches of the conventional control theory, optimal control, differential games, and the theory of stability. The distinctive feature of the methods developed in the book is that the c- trols obtained satisfy the imposed constraints and steer the dynamical system to a prescribed terminal state in ?nite time. Explicit upper estimates for the time of the process are given. In all cases, the control algorithms and the estimates obtained are strictly proven.
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Keywords
Table of contents (10 chapters)
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Front Matter
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Back Matter
Reviews
From the reviews:
"This book have been devoted to the control of Lagrangian mechanical systems. … The presentation of the book is mathematical. … the book discovers a number of new and specific control theoretic ideas dedicated to mechanical systems that may arouse interest of control engineering community and provide a research inspiration to robotics community." (Krzysztof Tchon, Zentralblatt MATH, Vol. 1155, 2009)
“This book is for researchers interested in control of nonlinear systems subject to unknown disturbances, containing uncertain parameters, and having several degrees of freedom.” (IEEE Control Systems and Magazine, Vol. 30, June, 2010)
Authors and Affiliations
Bibliographic Information
Book Title: Control of Nonlinear Dynamical Systems
Book Subtitle: Methods and Applications
Authors: Felix L. Chernousko, Igor M. Ananievski, Sergey A. Reshmin
Series Title: Communications and Control Engineering
DOI: https://doi.org/10.1007/978-3-540-70784-4
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2008
Hardcover ISBN: 978-3-540-70782-0Published: 27 October 2008
Softcover ISBN: 978-3-642-08970-1Published: 17 November 2010
eBook ISBN: 978-3-540-70784-4Published: 26 September 2008
Series ISSN: 0178-5354
Series E-ISSN: 2197-7119
Edition Number: 1
Number of Pages: XII, 396
Number of Illustrations: 121 b/w illustrations
Topics: Robotics and Automation, Control and Systems Theory, Systems Theory, Control, Control, Robotics, Mechatronics, Complex Systems, Statistical Physics and Dynamical Systems