Lyapunov stability analysis for feedback control design. The design of nonlinear controllers for mechanical systems has been an ex. Article pdf available in ieee control systems magazine 252. As a result, the controller is designed based on a third. On the other hand, recent technological advances have produced many realworld engineering applications that require the automatic con trol of mechanical systems. It is strongly recommended for purchase both by libraries and individual researchers. Robust lyapunovbased feedback control of nonlinear web. Over 10 million scientific documents at your fingertips. All chapters discuss different applications that are basically. Nevertheless, as a result of the underactuated nature of flexible arms, the exact feedback linearization method 21. 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. Introduction mechanical systems electric machines robotic systems aerospace systems. Lyapunovbased control of robotic systems automation and control engineering aman behal, warren dixon, darren m.
Closed loop control is achieved by modulating shape parameters. Lyapunov based model reference adaptive control for aerial. Restoration of arm function is necessary to resuming activities of daily living adl. Request pdf lyapunovbased control of mechanical systems friction is a natural phenomenon that affects almost all motion. Proceedings of the 18th world congress the international federation of automatic control milano italy august 28 september 2, 2011 lyapunov based control using contact structures h. System identification from inputoutput experimental data. Lyapunovbased control of mechanical systems control engineering kindle edition by queiroz, marcio s.
Lyapunov based switched systems control by tenghu cheng august 2015 chair. 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. Dawson, bin xian lyapunovbased control of robotic systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Lyapunovbased control of mechanical systems request pdf. May 12, 2008 dadfarnia, mohsen, jalili, nader, and dawson, darren m. Stabilization of nonlinear systems with state and control.
Kellett and teel, on the robustness of klstability for difference inclusions. Dawson, bin xian lyapunovbased control of robotic systems describes nonlinear control design solutions for problems that arise from robots. 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. The ordinary lyapunov function is used to test whether a dynamical system is stable more restrictively, asymptotically stable. 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. Dawson, bin xian lyapunov based control of robotic systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Click download or read online button to nonlinearcontrolofengineeringsystemsalyapunovbasedapproachcontrolengineering book pdf for free now. This book provides a practical yet rigorous development of nonlinear, lyapunovbased tools and their use in the solution of controltheoretic problems. Lyapunov based optimal control of a class of nonlinear systems. Nevertheless, as a result of the underactuated nature of flexible arms, the exact feedback linearization method 21 cannot be employed for such mechanical 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. 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. A trend of investigation of nonlinear control systems has been present over the last few decades. 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. By three different lyapunov functions and the invariant principle of impulsive systems, we study the convergence of quantum systems with impulsive control fields and propose new results for the mentioned. This paper addresses the design of a robust lyapunov based controller for flexible joint electrically driven robots fjer using voltage control strategy. Robust lyapunovbased feedback control of nonlinear webwinding systemsy matthew d. Lyapunovbased control of mechanical systems semantic scholar. International journal of robust and nonlinear control. Lyapunov control of quantum systems with impulsive control.
Nov 30, 2016 adaptive control systems are one of the most significant research directions of modern control theory. This book includes nonlinear design topics such as feedback linearization, lyapunov based control, adaptive control, optimal control and robust control. The device consists of a pole whose pivot point is mounted on a cart. Feedback linearization methods are wildly used for nonlinear systems. Combined and passivity control for networked control systems with random gain fluctuations and sojourn probabilities. Request pdf lyapunovbased control of mechanical systems the synthesis of controllers basically involves two steps. Lyapunovbased stability and construction of lyapunov. An investigation of damping mechanisms in translational. Nonlinear control of engineering systems internet archive. 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. Lyapunovbased control of mechanical systems control. As a result the methods for its analysis and design have improved rapidly.
Lyapunov based adaptive control method for hydraulic servo. Lyapunovbased control of mechanical systems marcio s. An adaptive robust approach to modeling and control of. This is in contrast to lyapunov stability which concerns the. Lyapunovbased controller for a class of stochastic.
Lyapunovbased control of mechanical systems springerlink. The pendulum is free to rotate about its pivot point. 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. 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 lyapunovbased stability approach. Provides connections between lyapunovbased matrix approach and the transfer function based polynomial approaches. 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. Continuoustime nonlinear system x fx x, 0 with state x tr.
A lyapunovbased approach for the control of biomimetic robotic systems with periodic forcing inputs domenico campolo. Proceedings of the asme 2003 international mechanical engineering congress and exposition. A new lyapunov based robust control for uncertain mechanical systems. A nonlinear control force is presented to stabilize the underactuated inverted pendulum mounted on a cart. 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. Use features like bookmarks, note taking and highlighting while reading lyapunovbased control of mechanical systems control engineering. 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. 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.
Arts lab, scuola superiore santanna, pisa, italy department of information engineering, univ. 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, lyapunov based tools and their use in the solution of control theoretic problems. Lyapunovbased control of robotic systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Lyapunovbased control of robotic systems 1st edition. Lyapunov theory based robust control of complicated nonlinear. It has been the subject of extensive studies for centuries, with the. Lyapunovbased control of robotic systems automation and. This study presents a general control law based on lyapunovs direct method for a group of wellknown stochastic chaotic systems. Mechanical engineering switched systems theory consists of tools developed for systems containing a combination of continuous and discrete dynamics. Department of mechanical and aerospace engineering, university of. Adaptive control control methods for uncertain nonlinear systems. Nonlinearcontrolofengineeringsystemsalyapunovbasedapproachcontrolengineering download nonlinearcontrolofengineeringsystemsalyapunovbasedapproachcontrolengineering ebook pdf or read online books in pdf, epub, and mobi format. Lyapunov based controller for the inverted pendulum car t.
The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades. 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. Dadfarnia, mohsen, jalili, nader, and dawson, darren m. 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. Practical application of uncertainty analysis in nonlinear dynamical systems. 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. Download pdf nonlinearcontrolofengineeringsystemsa. 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. Kodi archive and support file community software vintage software apk msdos cdrom software cdrom software library. Department of mechanical and aerospace engineering, university of florida, gainesville, fl 326116250.
Discontinuous discretetime systems kellett and andrew r. Lyapunovbased control of mechanical systems applied. Lyapunovbased switched systems control by tenghu cheng august 2015 chair. Introduction to system identification the goal of system identification is to utilize inputoutput experimental data to determine a systems model. Eml6229intro to random dynamical systems analysis of stochastic systems found in science and engineering applications. Click download or read online button to nonlinearcontrolofengineeringsystemsalyapunovbasedapproachcontrolengineering book pdf. Pdf anthropomorphic mechanical design and lyapunovbased. 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.
Download it once and read it on your kindle device, pc, phones or tablets. Lyapunov functions for nonlinear discretetime systems. Lyapunov based control of robotic systems automation and control engineering aman behal, warren dixon, darren m. This paper addresses the design of a robust lyapunovbased controller for flexible joint electrically driven robots fjer using voltage control strategy. Full text of nonlinear control of engineering systems. 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. Journal of dynamic systems, measurement, and control 141. Lyapunov based control of mechanical systems control engineering kindle edition by queiroz, marcio s. In control theory, a controllyapunov function is a lyapunov function for a system with control inputs. Click read now pdf download, get it for free, register 100% easily.
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. Lyapunovbased controller for the inverted pendulum cart. An investigation of damping mechanisms in translational eulerbernoulli beams using a lyapunov based stability approach. Constraints using lyapunovbased predictive control prashant mhaskar, nael h. 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. Robust lyapunovbased control of flexiblejoint robots.
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