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Author: Arjan van der Schaft
Publisher: Springer
ISBN: 3319499920
Category : Technology & Engineering
Languages : en
Pages : 334
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Book Description
This standard text gives a unified treatment of passivity and L2-gain theory for nonlinear state space systems, preceded by a compact treatment of classical passivity and small-gain theorems for nonlinear input-output maps. The synthesis between passivity and L2-gain theory is provided by the theory of dissipative systems. Specifically, the small-gain and passivity theorems and their implications for nonlinear stability and stabilization are discussed from this standpoint. The connection between L2-gain and passivity via scattering is detailed. Feedback equivalence to a passive system and resulting stabilization strategies are discussed. The passivity concepts are enriched by a generalised Hamiltonian formalism, emphasising the close relations with physical modeling and control by interconnection, and leading to novel control methodologies going beyond passivity. The potential of L2-gain techniques in nonlinear control, including a theory of all-pass factorizations of nonlinear systems, and of parametrization of stabilizing controllers, is demonstrated. The nonlinear H-infinity optimal control problem is also treated and the book concludes with a geometric analysis of the solution sets of Hamilton-Jacobi inequalities and their relation with Riccati inequalities for the linearization. · L2-Gain and Passivity Techniques in Nonlinear Control (third edition) is thoroughly updated, revised, reorganized and expanded. Among the changes, readers will find: · updated and extended coverage of dissipative systems theory · substantial new material regarding converse passivity theorems and incremental/shifted passivity · coverage of recent developments on networks of passive systems with examples · a completely overhauled and succinct introduction to modeling and control of port-Hamiltonian systems, followed by an exposition of port-Hamiltonian formulation of physical network dynamics · updated treatment of all-pass factorization of nonlinear systems The book provides graduate students and researchers in systems and control with a compact presentation of a fundamental and rapidly developing area of nonlinear control theory, illustrated by a broad range of relevant examples stemming from different application areas.
Author: Arjan van der Schaft
Publisher: Springer
ISBN: 3319499920
Category : Technology & Engineering
Languages : en
Pages : 334
Get Book Here
Book Description
This standard text gives a unified treatment of passivity and L2-gain theory for nonlinear state space systems, preceded by a compact treatment of classical passivity and small-gain theorems for nonlinear input-output maps. The synthesis between passivity and L2-gain theory is provided by the theory of dissipative systems. Specifically, the small-gain and passivity theorems and their implications for nonlinear stability and stabilization are discussed from this standpoint. The connection between L2-gain and passivity via scattering is detailed. Feedback equivalence to a passive system and resulting stabilization strategies are discussed. The passivity concepts are enriched by a generalised Hamiltonian formalism, emphasising the close relations with physical modeling and control by interconnection, and leading to novel control methodologies going beyond passivity. The potential of L2-gain techniques in nonlinear control, including a theory of all-pass factorizations of nonlinear systems, and of parametrization of stabilizing controllers, is demonstrated. The nonlinear H-infinity optimal control problem is also treated and the book concludes with a geometric analysis of the solution sets of Hamilton-Jacobi inequalities and their relation with Riccati inequalities for the linearization. · L2-Gain and Passivity Techniques in Nonlinear Control (third edition) is thoroughly updated, revised, reorganized and expanded. Among the changes, readers will find: · updated and extended coverage of dissipative systems theory · substantial new material regarding converse passivity theorems and incremental/shifted passivity · coverage of recent developments on networks of passive systems with examples · a completely overhauled and succinct introduction to modeling and control of port-Hamiltonian systems, followed by an exposition of port-Hamiltonian formulation of physical network dynamics · updated treatment of all-pass factorization of nonlinear systems The book provides graduate students and researchers in systems and control with a compact presentation of a fundamental and rapidly developing area of nonlinear control theory, illustrated by a broad range of relevant examples stemming from different application areas.
Author:
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 176
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Book Description
Author: Arjan van der Schaft
Publisher: Springer Science & Business Media
ISBN: 1447105079
Category : Technology & Engineering
Languages : en
Pages : 255
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Book Description
With respect to the first edition as Volume 218 in the Lecture Notes in Con trol and Information Sciences series the basic idea of the second edition has remained the same: to provide a compact presentation of some basic ideas in the classical theory of input-output and closed-loop stability, together with a choice of contributions to the recent theory of nonlinear robust and 1foo control and passivity-based control. Nevertheless, some parts of the book have been thoroughly revised and/or expanded, in order to have a more balanced presen tation of the theory and to include some of the new developments which have been taken place since the appearance of the first edition. I soon realized, how ever, that it is not possible to give a broad exposition of the existing literature in this area without affecting the spirit of the book, which is precisely aimed at a compact presentation. So as a result the second edition still reflects very much my personal taste and research interests. I trust that others will write books emphasizing different aspects. Major changes with respect to the first edition are the following: • A new section has been added in Chapter 2 relating L2-gain and passivity via scattering, emphasizing a coordinate-free, geometric, treatment. • The section on stability in Chapter 3 has been thoroughly expanded, also incorporating some recent results presented in [182J.
Author: Arjan van der Schaft
Publisher: Springer
ISBN: 9783319842943
Category : Computers
Languages : en
Pages : 321
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Book Description
This standard text gives a unified treatment of passivity and L2-gain theory for nonlinear state space systems, preceded by a compact treatment of classical passivity and small-gain theorems for nonlinear input-output maps. The synthesis between passivity and L2-gain theory is provided by the theory of dissipative systems. Specifically, the small-gain and passivity theorems and their implications for nonlinear stability and stabilization are discussed from this standpoint. The connection between L2-gain and passivity via scattering is detailed. Feedback equivalence to a passive system and resulting stabilization strategies are discussed. The passivity concepts are enriched by a generalised Hamiltonian formalism, emphasising the close relations with physical modeling and control by interconnection, and leading to novel control methodologies going beyond passivity. The potential of L2-gain techniques in nonlinear control, including a theory of all-pass factorizations of nonlinear systems, and of parametrization of stabilizing controllers, is demonstrated. The nonlinear H-infinity optimal control problem is also treated and the book concludes with a geometric analysis of the solution sets of Hamilton-Jacobi inequalities and their relation with Riccati inequalities for the linearization. · L2-Gain and Passivity Techniques in Nonlinear Control (third edition) is thoroughly updated, revised, reorganized and expanded. Among the changes, readers will find: · updated and extended coverage of dissipative systems theory · substantial new material regarding converse passivity theorems and incremental/shifted passivity · coverage of recent developments on networks of passive systems with examples · a completely overhauled and succinct introduction to modeling and control of port-Hamiltonian systems, followed by an exposition of port-Hamiltonian formulation of physical network dynamics · updated treatment of all-pass factorization of nonlinear systems The book provides graduate students and researchers in systems and control with a compact presentation of a fundamental and rapidly developing area of nonlinear control theory, illustrated by a broad range of relevant examples stemming from different application areas.
Author: T P Leung
Publisher: World Scientific
ISBN: 9814492256
Category : Technology & Engineering
Languages : en
Pages : 257
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Book Description
Over the last 50 years or so, a number of textbooks, monographs and even popular books have been published on nonlinear control theory and design methods. In the area of classical control, for example, there exist books concerned with phase-plane analysis, describing function approach, absolute stability and so on. In the area of modern control there are those related to optimal control, using differential geometry and the differential algebra method, variable structural control, H-infinite control and so on. These books have been useful in promoting the development of automatic control science and technology. Since 1990 there have been many new results and contributions in the area of nonlinear control. This book introduces those topics to interested readers. It will also benefit automation engineers, researchers and scholars in related fields.
Author: Laura Menini
Publisher: Springer Science & Business Media
ISBN: 0817644709
Category : Technology & Engineering
Languages : en
Pages : 557
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Book Description
This volume is an outgrowth of the workshop "Applications of Advanced Control Theory to Robotics and Automation, "organized in honor of the 70th birthdays of Petar V. Kokotovic and Salvatore (Turi) Nicosia. Both Petar and Turi have carried out distinguished work in the control community and have long been recognized as mentors, as well as experts and pioneers in the field of automatic control, covering many topics in control theory and several different applications. The variety of their research is reflected in this book, which includes contributions ranging from mathematics to laboratory experiments. The scope of the work is very broad, and although each chapter is self-contained, the book has been organized into thematically related chapters, which in some cases, suggest to the reader a convenient reading sequence. The great variety of topics covered and the almost tutorial writing style used by many of the authors will make this book suitable for both experts in the control field and young researchers who seek a more intuitive understanding of these relevant topics in the field.
Author: Béla Lantos
Publisher: Springer Science & Business Media
ISBN: 1849961220
Category : Technology & Engineering
Languages : en
Pages : 479
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Book Description
Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.
Author: Felix L. Chernous'ko
Publisher: Springer Science & Business Media
ISBN: 3540707840
Category : Technology & Engineering
Languages : en
Pages : 398
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Book Description
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.
Author: Lars Grüne
Publisher: Springer Science & Business Media
ISBN: 0857295012
Category : Technology & Engineering
Languages : en
Pages : 364
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Book Description
Nonlinear Model Predictive Control is a thorough and rigorous introduction to nonlinear model predictive control (NMPC) for discrete-time and sampled-data systems. NMPC is interpreted as an approximation of infinite-horizon optimal control so that important properties like closed-loop stability, inverse optimality and suboptimality can be derived in a uniform manner. These results are complemented by discussions of feasibility and robustness. NMPC schemes with and without stabilizing terminal constraints are detailed and intuitive examples illustrate the performance of different NMPC variants. An introduction to nonlinear optimal control algorithms gives insight into how the nonlinear optimisation routine – the core of any NMPC controller – works. An appendix covering NMPC software and accompanying software in MATLAB® and C++(downloadable from www.springer.com/ISBN) enables readers to perform computer experiments exploring the possibilities and limitations of NMPC.
Author: Alessandro Astolfi
Publisher: Springer Science & Business Media
ISBN: 1848000669
Category : Technology & Engineering
Languages : en
Pages : 302
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Book Description
The authors here provide a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. They employ a new tool based on the ideas of system immersion and manifold invariance. New algorithms are delivered for the construction of robust asymptotically-stabilizing and adaptive control laws for nonlinear systems. The methods proposed lead to modular schemes that are easier to tune than their counterparts obtained from Lyapunov redesign.
