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Author: Ricardo G. Sanfelice
Publisher: Princeton University Press
ISBN: 0691180229
Category : Mathematics
Languages : en
Pages : 420
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Book Description
"Hybrid systems are those that-unlike classical systems-exhibit both discrete changes, or "jumps", and continuous changes, or "flow." The canonical example of a hybrid system is a bouncing ball: the ball's speed changes continuously between bounces, but there is a discrete jump in velocity each time the ball impacts the ground. Hybrid systems feature widely across disciplines, including in biology, computer science, and mechanical engineering; examples range from fireflies to self-driving cars. Although classical control theory provides powerful tools for analyzing systems that exhibit either flow or jumps, it is ill-equipped to handle hybrid systems, which feature both behaviors. In Hybrid Feedback Control, Ricardo Sanfelice presents a self-contained introduction to the control of hybrid systems, and develops new tools for their design and analysis. This monograph uses hybrid systems notation to present a new, unified control theory framework, thus filling an important gap in the control theory literature. In addition to presenting this theoretical framework, the book also includes a variety of examples and exercises, a Matlab toolbox, and a summary at the beginning of each chapter. The book was originally used in a series of lectures on the topic, and will find a modest amount of crossover course use. The book will also find use outside the field of control, particularly in dynamical systems theory, applied mathematics, and computer science"--
Author: Ricardo G. Sanfelice
Publisher: Princeton University Press
ISBN: 0691180229
Category : Mathematics
Languages : en
Pages : 420
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Book Description
"Hybrid systems are those that-unlike classical systems-exhibit both discrete changes, or "jumps", and continuous changes, or "flow." The canonical example of a hybrid system is a bouncing ball: the ball's speed changes continuously between bounces, but there is a discrete jump in velocity each time the ball impacts the ground. Hybrid systems feature widely across disciplines, including in biology, computer science, and mechanical engineering; examples range from fireflies to self-driving cars. Although classical control theory provides powerful tools for analyzing systems that exhibit either flow or jumps, it is ill-equipped to handle hybrid systems, which feature both behaviors. In Hybrid Feedback Control, Ricardo Sanfelice presents a self-contained introduction to the control of hybrid systems, and develops new tools for their design and analysis. This monograph uses hybrid systems notation to present a new, unified control theory framework, thus filling an important gap in the control theory literature. In addition to presenting this theoretical framework, the book also includes a variety of examples and exercises, a Matlab toolbox, and a summary at the beginning of each chapter. The book was originally used in a series of lectures on the topic, and will find a modest amount of crossover course use. The book will also find use outside the field of control, particularly in dynamical systems theory, applied mathematics, and computer science"--
Author: Karl Johan Åström
Publisher: Princeton University Press
ISBN: 069121347X
Category : Technology & Engineering
Languages : en
Pages : 523
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Book Description
The essential introduction to the principles and applications of feedback systems—now fully revised and expanded This textbook covers the mathematics needed to model, analyze, and design feedback systems. Now more user-friendly than ever, this revised and expanded edition of Feedback Systems is a one-volume resource for students and researchers in mathematics and engineering. It has applications across a range of disciplines that utilize feedback in physical, biological, information, and economic systems. Karl Åström and Richard Murray use techniques from physics, computer science, and operations research to introduce control-oriented modeling. They begin with state space tools for analysis and design, including stability of solutions, Lyapunov functions, reachability, state feedback observability, and estimators. The matrix exponential plays a central role in the analysis of linear control systems, allowing a concise development of many of the key concepts for this class of models. Åström and Murray then develop and explain tools in the frequency domain, including transfer functions, Nyquist analysis, PID control, frequency domain design, and robustness. Features a new chapter on design principles and tools, illustrating the types of problems that can be solved using feedback Includes a new chapter on fundamental limits and new material on the Routh-Hurwitz criterion and root locus plots Provides exercises at the end of every chapter Comes with an electronic solutions manual An ideal textbook for undergraduate and graduate students Indispensable for researchers seeking a self-contained resource on control theory
Author: Rafal Goebel
Publisher: Princeton University Press
ISBN: 1400842638
Category : Mathematics
Languages : en
Pages : 227
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Book Description
Hybrid dynamical systems exhibit continuous and instantaneous changes, having features of continuous-time and discrete-time dynamical systems. Filled with a wealth of examples to illustrate concepts, this book presents a complete theory of robust asymptotic stability for hybrid dynamical systems that is applicable to the design of hybrid control algorithms--algorithms that feature logic, timers, or combinations of digital and analog components. With the tools of modern mathematical analysis, Hybrid Dynamical Systems unifies and generalizes earlier developments in continuous-time and discrete-time nonlinear systems. It presents hybrid system versions of the necessary and sufficient Lyapunov conditions for asymptotic stability, invariance principles, and approximation techniques, and examines the robustness of asymptotic stability, motivated by the goal of designing robust hybrid control algorithms. This self-contained and classroom-tested book requires standard background in mathematical analysis and differential equations or nonlinear systems. It will interest graduate students in engineering as well as students and researchers in control, computer science, and mathematics.
Author: Eric R. Westervelt
Publisher: CRC Press
ISBN: 1420053736
Category : Technology & Engineering
Languages : en
Pages : 528
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Book Description
Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots. In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including: Mathematical modeling of walking and running gaits in planar robots Analysis of periodic orbits in hybrid systems Design and analysis of feedback systems for achieving stable periodic motions Algorithms for synthesizing feedback controllers Detailed simulation examples Experimental implementations on two bipedal test beds The elegance of the authors' approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB® code for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots.
Author: Jan Lunze
Publisher: Cambridge University Press
ISBN: 0521765056
Category : Computers
Languages : en
Pages : 583
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Book Description
Sets out core theory and reviews new methods and applications to show how hybrid systems can be modelled and understood.
Author: Rajeev Alur
Publisher: Springer Science & Business Media
ISBN: 9783540611554
Category : Computers
Languages : en
Pages : 636
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Book Description
This reference book documents the scientific outcome of the DIMACS/SYCON Workshop on Verification and Control of Hybrid Systems, held at Rutgers University in New Brunswick, NJ, in October 1995. A hybrid system consists of digital devices that interact with analog environments. Computer science contributes expertise on the analog aspects of this emerging field of interdisciplinary research and design. The 48 revised full papers included were strictly refereed; they present the state of the art in this dynamic field with contributions by leading experts. Also available are the predecessor volumes published in the same series as LNCS 999 and LNCS 736.
Author: Francesco Borrelli
Publisher: Cambridge University Press
ISBN: 1107016886
Category : Mathematics
Languages : en
Pages : 447
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Book Description
With a simple approach that includes real-time applications and algorithms, this book covers the theory of model predictive control (MPC).
Author: Robert Grossman
Publisher: Springer
ISBN:
Category : Computers
Languages : en
Pages : 488
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Book Description
"Hybrid systems are networks of interacting digital and analog devices. Control systems for inherently unstable aircraft and computer aided manufacturing are typical applications for hybrid systems, but due to the rapid development of processor and circuit technology modern cars and consumer electronics use software to control physical processes. The identifying characteristic of hybrid systems is that they incorporate both continuous components governed by differential equations and also digital components - digital computers, sensors, and actuators controlled by programs. This volume of invited refereed papers is inspired by a workshop on the Theory of Hybrid Systems, held at the Technical University, Lyngby, Denmark, in October 1992, and by a prior Hybrid Systems Workshop, held at Cornell University, USA, in June 1991, organized by R.L. Grossman and A. Nerode. Some papers are the final versions of papers presented at these workshops and some are invited papers from other researchers who were not able to attend these workshops."--PUBLISHER'S WEBSITE.
Author: Wassim M. Haddad
Publisher: Princeton University Press
ISBN: 1400865247
Category : Mathematics
Languages : en
Pages : 522
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Book Description
This book develops a general analysis and synthesis framework for impulsive and hybrid dynamical systems. Such a framework is imperative for modern complex engineering systems that involve interacting continuous-time and discrete-time dynamics with multiple modes of operation that place stringent demands on controller design and require implementation of increasing complexity--whether advanced high-performance tactical fighter aircraft and space vehicles, variable-cycle gas turbine engines, or air and ground transportation systems. Impulsive and Hybrid Dynamical Systems goes beyond similar treatments by developing invariant set stability theorems, partial stability, Lagrange stability, boundedness, ultimate boundedness, dissipativity theory, vector dissipativity theory, energy-based hybrid control, optimal control, disturbance rejection control, and robust control for nonlinear impulsive and hybrid dynamical systems. A major contribution to mathematical system theory and control system theory, this book is written from a system-theoretic point of view with the highest standards of exposition and rigor. It is intended for graduate students, researchers, and practitioners of engineering and applied mathematics as well as computer scientists, physicists, and other scientists who seek a fundamental understanding of the rich dynamical behavior of impulsive and hybrid dynamical systems.
Author: Ken Goldberg
Publisher:
ISBN: 9783030430900
Category : Artificial intelligence
Languages : en
Pages : 0
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Book Description
This book presents the outcomes of the 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016). WAFR is a prestigious, single-track, biennial international meeting devoted to recent advances in algorithmic problems in robotics. Robot algorithms are an important building block of robotic systems and are used to process inputs from users and sensors, perceive and build models of the environment, plan low-level motions and high-level tasks, control robotic actuators, and coordinate actions across multiple systems. However, developing and analyzing these algorithms raises complex challenges, both theoretical and practical. Advances in the algorithmic foundations of robotics have applications to manufacturing, medicine, distributed robotics, human-robot interaction, intelligent prosthetics, computer animation, computational biology, and many other areas. The 2016 edition of WAFR went back to its roots and was held in San Francisco, California - the city where the very first WAFR was held in 1994. Organized by Pieter Abbeel, Kostas Bekris, Ken Goldberg, and Lauren Miller, WAFR 2016 featured keynote talks by John Canny on "A Guided Tour of Computer Vision, Robotics, Algebra, and HCI," Erik Demaine on "Replicators, Transformers, and Robot Swarms: Science Fiction through Geometric Algorithms," Dan Halperin on "From Piano Movers to Piano Printers: Computing and Using Minkowski Sums," and by Lydia Kavraki on "20 Years of Sampling Robot Motion." Furthermore, it included an Open Problems Session organized by Ron Alterovitz, Florian Pokorny, and Jur van den Berg. There were 58 paper presentations during the three-day event. The organizers would like to thank the authors for their work and contributions, the reviewers for ensuring the high quality of the meeting, the WAFR Steering Committee led by Nancy Amato as well as WAFR's fiscal sponsor, the International Federation of Robotics Research (IFRR), led by Oussama Khatib and Henrik Christensen. WAFR 2016 was an enjoyable and memorable event.
