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## Details

Material Type: | Internet resource |
---|---|

Document Type: | Book, Internet Resource |

All Authors / Contributors: |
Elzbieta Jarzebowska |

ISBN: | 9781439819814 1439819815 |

OCLC Number: | 462925756 |

Description: | xiii, 301 pages : illustrations ; 25 cm. |

Contents: | Introduction Scope and Outline Mechanics and Nonlinear Control Role of Modeling in a Control Design Process Dynamics Modeling of Constrained Systems Introduction-Art of Modeling Constrained Systems Equations of Motion for Systems with First-Order Constraints Equations of Motion for Systems with High-Order Constraints Introduction to Nonlinear Control Theory Stability Properties of Nonlinear Systems Classification of Control Problems Control Properties of Nonlinear Systems Kinematic Control Models Dynamic Control Models Feedback Linearization of Nonlinear Systems Models-Based Control Design Methods Flatness-Based Control Design Methods Other Control Design Techniques for Nonlinear Systems Stabilization Strategies for Nonlinear Systems Model-Based Tracking Control of Nonlinear Systems A Unified Control-Oriented Model for Constrained Systems Tracking Control of Holonomic Systems Tracking Control of First-Order Nonholonomic Systems Tracking Control of Underactuated Systems Tracking Control Algorithms Specified in Quasi-Coordinates Path-Following Strategies for Nonlinear Systems Path-Following Strategies Based on Kinematic Control Models Path-Following Strategies Based on Dynamic Control Models Model Reference Tracking Control of High-Order Nonholonomic Systems Model Reference Tracking Control Strategy for Programmed Motion Nonadaptive Tracking Control Algorithms for Programmed Motions Adaptive Tracking Control Algorithms for Programmed Motions Learning Tracking Control Algorithms for Programmed Motions Tracking Control Algorithms for Programmed Motions Specified in Quasi-Coordinates Tracking Control Algorithms for Programmed Motions with the Velocity Observer Other Applications of the Model Reference Tracking Control Strategy for Programmed Motion Concluding Remarks Problems and References appear at the end of each chapter. |

Series Title: | CRC series--modern mechanics and mathematics. |

Responsibility: | Elzbieta Jarzebowska. |

More information: |

### Abstract:

"Preface The book presents model-based control methods and techniques for nonlinear, specifically constrained, systems. It focuses on constructive control design methods with an emphasis on modeling constrained systems, generating dynamic control models, and designing tracking control algorithms for them. Actually, an active research geared by applications continues on dynamics and control of constrained systems. It is reflected by numerous research papers, monographs, and research reports. Many of them are listed at the end of each book chapter, but it is impossible to make the list complete. The book is not aimed at the survey of existing modeling, tracking, and stabilization design methods and algorithms. It offers some generalization of a tracking control design for constrained mechanical systems for which constraints can be of the programmed type and of arbitrary order. This generalization is developed throughout the book in accordance with the three main steps of a control design project, i.e., model building, controller design, and a controller implementation. The book content focuses on model building and, based upon this model that consists of the generalized programmed motion equations, on a presentation of new tracking control strategy architecture. The author would like to thank the editors at Taylor & Francis for their support in the book edition; Karol Pietrak, a Ph. D. candidate at Warsaw University of Technology, Warsaw, Poland, for excellent figure drawings in the book, and Maria Sanjuan-Janiec for the original book cover design"--

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Publisher Synopsis

"The book addresses dynamic modeling and control design methods for nonlinear mechanical systems. The understanding of the author is that these two topics are closely related and should be studied together. ... All chapters are illustrated with examples. Each chapter of the book ends with a list of references. The book is addressed to graduate and postgraduate students as well as to control engineers and researches. A basic course in analytical mechanics and linear control theory is appreciated." -Zentralblatt MATH 1281 Read more...

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