ADAPTIVE CONTROL OF UNDERACTUATED MECHANICAL SYSTEMS

by An-chyau Huang, Yung-feng Chen, Chen-yu Kai

Overview

In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems.

Product Details

ISBN-13:	9789814663564
Publisher:	World Scientific Publishing Company, Incorporated
Publication date:	01/29/2015
Series:	20150129
Sold by:	Barnes & Noble
Format:	eBook
Pages:	228
File size:	5 MB

Table of Contents

To Our Families v

Preface vii

Chapter 1 Introduction 1

Chapter 2 Preliminaries 13

2.1 Review of Some Mathematical Background 14

2.2 Lyapunov Stability Theory 31

2.3 Frobenius Theorem 35

2.4 Sliding Control 39

2.5 Adaptive Control 45

2.6 Robust Adaptive Control 49

2.7 General Uncertainties 53

2.8 FAT-Based Adaptive Controller Design 57

2.9 Backstepping Procedure 66

2.10 Multiple-Surface Sliding Control 70

Chapter 3 Underactuated System Dynamics and Coordinate Transformation 77

3.1 Dynamics of Mechanical Systems 77

3.2 Underactuated Systems 80

3.3 Collocated Partial Feedback Linearization 82

3.4 Decoupling of General Underactuated Systems 84

3.5 Decoupling for 2-DOF Systems 88

3.6 Decoupling of Single-Input High-Order Systems 95

Chapter 4 Controller Design 100

4.1 Control Problem Formulation 100

4.2 Controller Design 104

4.3 Summary 117

Chapter 5 Cart Pole Systems 121

5.1 System Dynamics 122

5.2 Coordinate Transformation 125

5.3 Simulation Cases 126

Chapter 6 Overhead Cranes 133

6.1 System Dynamics 135

6.2 Coordinate Transformation 137

6.3 Simulation Cases 139

Chapter 7 TORA System 147

7.1 System Dynamics 148

7.2 Coordinate Transformation 151

7.3 Simulation Cases 152

Chapter 8 Rotary Inverted Pendulum 159

8.1 System Dynamics 160

8.2 Coordinate Transformation 163

8.3 Simulation Cases 164

Chapter 9 Vibration Absorber 171

9.1 System Dynamics 175

9.2 Coordinate Transformation 176

9.3 Steady State Performance Analysis 177

9.4 Simulation Cases 178

Chapter 10 Pendubot 189

10.1 System Dynamics 190

10.2 Coordinate Transformation 193

10.3 Simulation Cases 194

Bibliography 201

Index 217