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Control Stabilization And Dynamics Of Mechanical Systems
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Book Synopsis Dynamics of Controlled Mechanical Systems with Delayed Feedback by : H.Y. Hu
Download or read book Dynamics of Controlled Mechanical Systems with Delayed Feedback written by H.Y. Hu and published by Springer Science & Business Media. This book was released on 2002-07-24 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent years have witnessed a rapid development of active control of various mechanical systems. With increasingly strict requirements for control speed and system performance, the unavoidable time delays in both controllers and actuators have become a serious problem. For instance, all digital controllers, analogue anti aliasing and reconstruction filters exhibit a certain time delay during operation, and the hydraulic actuators and human being interaction usually show even more significant time delays. These time delays, albeit very short in most cases, often deteriorate the control performance or even cause the instability of the system, be cause the actuators may feed energy at the moment when the system does not need it. Thus, the effect of time delays on the system performance has drawn much at tention in the design of robots, active vehicle suspensions, active tendons for tall buildings, as well as the controlled vibro-impact systems. On the other hand, the properly designed delay control may improve the performance of dynamic sys tems. For instance, the delayed state feedback has found its applications to the design of dynamic absorbers, the linearization of nonlinear systems, the control of chaotic oscillators, etc. Most controlled mechanical systems with time delays can be modeled as the dynamic systems described by a set of ordinary differential equations with time delays.
Book Synopsis Dynamics and Control of Mechanical Systems in Offshore Engineering by : Wei He
Download or read book Dynamics and Control of Mechanical Systems in Offshore Engineering written by Wei He and published by Springer Science & Business Media. This book was released on 2013-10-02 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamics and Control of Mechanical Systems in Offshore Engineering is a comprehensive treatment of marine mechanical systems (MMS) involved in processes of great importance such as oil drilling and mineral recovery. Ranging from nonlinear dynamic modeling and stability analysis of flexible riser systems, through advanced control design for an installation system with a single rigid payload attached by thrusters, to robust adaptive control for mooring systems, it is an authoritative reference on the dynamics and control of MMS. Readers will gain not only a complete picture of MMS at the system level, but also a better understanding of the technical considerations involved and solutions to problems that commonly arise from dealing with them. The text provides: · a complete framework of dynamical analysis and control design for marine mechanical systems; · new results on the dynamical analysis of riser, mooring and installation systems together with a general modeling method for a class of MMS; · a general method and strategy for realizing the control objectives of marine systems with guaranteed stability the effectiveness of which is illustrated by extensive numerical simulation; and · approximation-based control schemes using neural networks for installation of subsea structures with attached thrusters in the presence of time-varying environmental disturbances and parametric uncertainties. Most of the results presented are analytical with repeatable design algorithms with proven closed-loop stability and performance analysis of the proposed controllers is rigorous and detailed. Dynamics and Control of Mechanical Systems in Offshore Engineering is primarily intended for researchers and engineers in the system and control community, but graduate students studying control and marine engineering will also find it a useful resource as will practitioners working on the design, running or maintenance of offshore platforms.
Book Synopsis Stability and Convergence of Mechanical Systems with Unilateral Constraints by : Remco I. Leine
Download or read book Stability and Convergence of Mechanical Systems with Unilateral Constraints written by Remco I. Leine and published by Springer Science & Business Media. This book was released on 2007-12-29 with total page 241 pages. Available in PDF, EPUB and Kindle. Book excerpt: While the stability theory for systems with bilateral constraints is a well-established field, this monograph represents a systematic study of mechanical systems with unilateral constraints, such as unilateral contact, impact and friction. Such unilateral constraints give rise to non-smooth dynamical models for which stability theory is developed in this work. The book will be of interest to those working in the field of non-smooth mechanics and dynamics.
Book Synopsis Advanced Dynamics of Mechanical Systems by : Federico Cheli
Download or read book Advanced Dynamics of Mechanical Systems written by Federico Cheli and published by Springer. This book was released on 2015-05-29 with total page 836 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a general approach for schematization of mechanical systems with rigid and deformable bodies. It proposes a systems approach to reproduce the interaction of the mechanical system with different force fields such as those due to the action of fluids or contact forces between bodies, i.e., with forces dependent on the system states, introducing the concepts of the stability of motion. In the first part of the text mechanical systems with one or more degrees of freedom with large motion and subsequently perturbed in the neighborhood of the steady state position are analyzed. Both discrete and continuous systems (modal approach, finite elements) are analyzed. The second part is devoted to the study of mechanical systems subject to force fields, the rotor dynamics, techniques of experimental identification of the parameters and random excitations. The book will be especially valuable for students of engineering courses in Mechanical Systems, Aerospace, Automation and Energy but will also be useful for professionals. The book is made accessible to the widest possible audience by numerous, solved examples and diagrams that apply the principles to real engineering applications.
Book Synopsis Lyapunov-Based Control of Mechanical Systems by : Marcio S. de Queiroz
Download or read book Lyapunov-Based Control of Mechanical Systems written by Marcio S. de Queiroz and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades. From a theoretical point of view, this attention can be attributed to their interesting dynamic behavior, which makes them suitable benchmarks for nonlinear control the oreticians. On the other hand, recent technological advances have produced many real-world engineering applications that require the automatic con trol of mechanical systems. the mechanism for de Often, Lyapunov-based techniques are utilized as veloping different nonlinear control structures for mechanical systems. The allure of the Lyapunov-based framework for mechanical system control de sign can most likely be assigned to the fact that Lyapunov function candi dates can often be crafted from physical insight into the mechanics of the system. That is, despite the nonlinearities, couplings, and/or the flexible effects associated with the system, Lyapunov-based techniques can often be used to analyze the stability of the closed-loop system by using an energy like function as the Lyapunov function candidate. In practice, the design procedure often tends to be an iterative process that results in the death of many trees. That is, the controller and energy-like function are often constructed in concert to foster an advantageous stability property and/or robustness property. Fortunately, over the last 15 years, many system the ory and control researchers have labored in this area to produce various design tools that can be applied in a variety of situations.
Book Synopsis Motion Control of Underactuated Mechanical Systems by : Javier Moreno-Valenzuela
Download or read book Motion Control of Underactuated Mechanical Systems written by Javier Moreno-Valenzuela and published by Springer. This book was released on 2017-07-11 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines.
Download or read book Vehicle Stability written by Dean Karnopp and published by CRC Press. This book was released on 2004-03-11 with total page 346 pages. Available in PDF, EPUB and Kindle. Book excerpt: This reference offers a systematic approach to the dynamics and stability of vehicles such as cars, bicycles, trailers, motorcycles, and trains and shows how mathematical models of varying degrees of complexity can be used to suggest design guidelines for assurance of vehicle stability. Based on more than 30 years of teaching experience from a reno
Book Synopsis Kinematics and Dynamics of Multi-Body Systems by : J. Angeles
Download or read book Kinematics and Dynamics of Multi-Body Systems written by J. Angeles and published by Springer. This book was released on 2014-05-04 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as coupling or rigid bodies. The treatment is intended to give a state of the art of the topics discussed.
Book Synopsis Analysis and Control of Underactuated Mechanical Systems by : Amal Choukchou-Braham
Download or read book Analysis and Control of Underactuated Mechanical Systems written by Amal Choukchou-Braham and published by Springer Science & Business Media. This book was released on 2013-11-18 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. The text is illustrated with MATLABsup®/sup/Simulink® simulations that demonstrate the effectiveness of the methods detailed./ppReaders interested in aircraft, vehicle control or various forms of walking robot will be able to learn from iUnderactuated Mechanical Systems
Book Synopsis Vehicle Dynamics and Control by : Rajesh Rajamani
Download or read book Vehicle Dynamics and Control written by Rajesh Rajamani and published by Springer Science & Business Media. This book was released on 2011-12-21 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.
Book Synopsis Non-linear Control for Underactuated Mechanical Systems by : Isabelle Fantoni
Download or read book Non-linear Control for Underactuated Mechanical Systems written by Isabelle Fantoni and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.
Book Synopsis Dynamics And Control Of Hybrid Mechanical Systems by : Gennady A Leonov
Download or read book Dynamics And Control Of Hybrid Mechanical Systems written by Gennady A Leonov and published by World Scientific. This book was released on 2010-01-13 with total page 261 pages. Available in PDF, EPUB and Kindle. Book excerpt: The papers in this edited volume aim to provide a better understanding of the dynamics and control of a large class of hybrid dynamical systems that are described by different models in different state space domains. They not only cover important aspects and tools for hybrid systems analysis and control, but also a number of experimental realizations. Special attention is given to synchronization — a universal phenomenon in nonlinear science that gained tremendous significance since its discovery by Huygens in the 17th century. Possible applications of the results introduced in the book include control of mobile robots, control of CD/DVD players, flexible manufacturing lines, and complex networks of interacting agents.The book is based on the material presented at a similarly entitled minisymposium at the 6th European Nonlinear Dynamics Conference held in St Petersburg in 2008. It is unique in that it contains results of several international and interdisciplinary collaborations in the field, and reflects state-of-the-art technological development in the area of hybrid mechanical systems at the forefront of the 21st century.
Book Synopsis Control System Dynamics by : Robert N. Clark
Download or read book Control System Dynamics written by Robert N. Clark and published by Cambridge University Press. This book was released on 1996-01-26 with total page 530 pages. Available in PDF, EPUB and Kindle. Book excerpt: A textbook for engineers on the basic techniques in the analysis and design of automatic control systems.
Book Synopsis Nonholonomic Mechanics and Control by : A.M. Bloch
Download or read book Nonholonomic Mechanics and Control written by A.M. Bloch and published by Springer Science & Business Media. This book was released on 2008-02-03 with total page 498 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Book Synopsis Dynamics and Bifurcations of Non-Smooth Mechanical Systems by : Remco I. Leine
Download or read book Dynamics and Bifurcations of Non-Smooth Mechanical Systems written by Remco I. Leine and published by Springer Science & Business Media. This book was released on 2013-03-19 with total page 245 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph combines the knowledge of both the field of nonlinear dynamics and non-smooth mechanics, presenting a framework for a class of non-smooth mechanical systems using techniques from both fields. The book reviews recent developments, and opens the field to the nonlinear dynamics community. This book addresses researchers and graduate students in engineering and mathematics interested in the modelling, simulation and dynamics of non-smooth systems and nonlinear dynamics.
Book Synopsis Introduction to Dynamics and Control in Mechanical Engineering Systems by : Cho W. S. To
Download or read book Introduction to Dynamics and Control in Mechanical Engineering Systems written by Cho W. S. To and published by John Wiley & Sons. This book was released on 2016-05-02 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the first books to provide in-depth and systematic application of finite element methods to the field of stochastic structural dynamics The parallel developments of the Finite Element Methods in the 1950’s and the engineering applications of stochastic processes in the 1940’s provided a combined numerical analysis tool for the studies of dynamics of structures and structural systems under random loadings. In the open literature, there are books on statistical dynamics of structures and books on structural dynamics with chapters dealing with random response analysis. However, a systematic treatment of stochastic structural dynamics applying the finite element methods seems to be lacking. Aimed at advanced and specialist levels, the author presents and illustrates analytical and direct integration methods for analyzing the statistics of the response of structures to stochastic loads. The analysis methods are based on structural models represented via the Finite Element Method. In addition to linear problems the text also addresses nonlinear problems and non-stationary random excitation with systems having large spatially stochastic property variations.
Book Synopsis Design of Nonlinear Control Systems with the Highest Derivative in Feedback by : Valery D. Yurkevich
Download or read book Design of Nonlinear Control Systems with the Highest Derivative in Feedback written by Valery D. Yurkevich and published by World Scientific. This book was released on 2004 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: This unique book presents an analytical uniform design methodology of continuous-time or discrete-time nonlinear control system design which guarantees desired transient performances in the presence of plant parameter variations and unknown external disturbances. All results are illustrated with numerical simulations, their practical importance is highlighted, and they may be used for real-time control system design in robotics, mechatronics, chemical reactors, electrical and electro-mechanical systems as well as aircraft control systems. The book is easy reading and is suitable for teaching.
