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Author: Jinkun Liu Publisher: Springer ISBN: 9811083002 Category : Technology & Engineering Languages : en Pages : 158
Book Description
The book investigates fundamental issues in flexible manipulator systems, including distributed parameter modeling and boundary controller design. It presents theoretical explorations of several fundamental problems concerning the dynamics and control of these systems. By integrating fresh concepts and results to form a systematic approach to control, it also provides a basic theoretical framework. In turn, the book offers a comprehensive treatment of flexible manipulator systems, addressing topics ranging from related distributed parameter modeling and advanced boundary controller design for these systems with input constraint, to active control with output constraint. In brief, the book addresses dynamical analysis and control design for flexible manipulator systems. Though primarily intended for researchers and engineers in the control system and mechanical engineering community, it can also serve as supplemental reading on the modeling and control of flexible manipulator systems at the postgraduate level.
Author: Jinkun Liu Publisher: Springer ISBN: 9811083002 Category : Technology & Engineering Languages : en Pages : 158
Book Description
The book investigates fundamental issues in flexible manipulator systems, including distributed parameter modeling and boundary controller design. It presents theoretical explorations of several fundamental problems concerning the dynamics and control of these systems. By integrating fresh concepts and results to form a systematic approach to control, it also provides a basic theoretical framework. In turn, the book offers a comprehensive treatment of flexible manipulator systems, addressing topics ranging from related distributed parameter modeling and advanced boundary controller design for these systems with input constraint, to active control with output constraint. In brief, the book addresses dynamical analysis and control design for flexible manipulator systems. Though primarily intended for researchers and engineers in the control system and mechanical engineering community, it can also serve as supplemental reading on the modeling and control of flexible manipulator systems at the postgraduate level.
Author: Zhijie Liu Publisher: Springer Nature ISBN: 981152596X Category : Technology & Engineering Languages : en Pages : 184
Book Description
This book provides a comprehensive review of fundamental issues in the dynamical modeling and vibration control design for several flexible mechanical systems, such as flexible satellites, flexible aerial refueling hoses, and flexible three-dimensional manipulators. Offering an authoritative reference guide to the dynamics and control of flexible mechanical systems, it equips readers to solve a host of problems concerning these systems. It provides not only a complete overview of flexible systems, but also a better understanding of the technical levels involved. The book is divided into ten chapters: Chapters 1 and 2 lay the foundations, while the remaining chapters explore several independent yet related topics in detail. The book’s final chapter presents conclusions and recommendations for future research. Given its scope, the book is intended for researchers, graduate students, and engineers whose work involves control systems, flexible mechanical systems, and related areas.
Author: Yu Liu Publisher: Springer Nature ISBN: 9811969418 Category : Technology & Engineering Languages : en Pages : 249
Book Description
The main objectives of the book are to introduce the design method of boundary control strategies for the axially moving structures to reduce their vibration. This book provides the reader with a thorough grounding in the boundary controller design. Our goal is to provide advanced boundary controller design methods and their stability analysis methods and offer simulation examples and MATLAB programs for each boundary control algorithm. For each chapter, several engineering application examples are given and the contents of each chapter in this book are independent, so that readers can just read their own needs. In this book, all the control algorithms and their programs are described separately and classified by the chapter name, which can be run successfully in MATLAB. The book can benefit researchers, engineers, and graduate students in the fields of PDE modeling and boundary vibration control of flexible structures.
Author: Alexander L. Zuyev Publisher: Springer ISBN: 3319115324 Category : Technology & Engineering Languages : en Pages : 241
Book Description
This monograph provides a rigorous treatment of problems related to partial asymptotic stability and controllability for models of flexible structures described by coupled nonlinear ordinary and partial differential equations or equations in abstract spaces. The text is self-contained, beginning with some basic results from the theory of continuous semigroups of operators in Banach spaces. The problem of partial asymptotic stability with respect to a continuous functional is then considered for a class of abstract multivalued systems on a metric space. Next, the results of this study are applied to the study of a rotating body with elastic attachments. Professor Zuyev demonstrates that the equilibrium cannot be made strongly asymptotically stable in the general case, motivating consideration of the problem of partial stabilization with respect to the functional that represents “averaged” oscillations. The book’s focus moves on to spillover analysis for infinite-dimensional systems with finite-dimensional controls. It is shown that a family of L2-minimal controls, corresponding to low frequencies, can be used to obtain approximate solutions of the steering problem for the complete system. The book turns from the examination of an abstract class of systems to particular physical examples. Timoshenko beam theory is exploited in studying a mathematical model of a flexible-link manipulator. Finally, a mechanical system consisting of a rigid body with the Kirchhoff plate is considered. Having established that such a system is not controllable in general, sufficient controllability conditions are proposed for the dynamics on an invariant manifold. Academic researchers and graduate students interested in control theory and mechanical engineering will find Partial Stabilization and Control of Distributed-Parameter Systems with Elastic Elements a valuable and authoritative resource for investigations on the subject of partial stabilization.
Author: Miroslav Krstic Publisher: SIAM ISBN: 0898718600 Category : Mathematics Languages : en Pages : 197
Book Description
The text's broad coverage includes parabolic PDEs; hyperbolic PDEs of first and second order; fluid, thermal, and structural systems; delay systems; PDEs with third and fourth derivatives in space (including variants of linearized Ginzburg-Landau, Schrodinger, Kuramoto-Sivashinsky, KdV, beam, and Navier-Stokes equations); real-valued as well as complex-valued PDEs; stabilization as well as motion planning and trajectory tracking for PDEs; and elements of adaptive control for PDEs and control of nonlinear PDEs.
Author: Chenxiao Cai Publisher: Springer ISBN: 3319454056 Category : Technology & Engineering Languages : en Pages : 233
Book Description
This book is a self-contained collection of recent research findings providing a comprehensive and systematic unified framework for both analysis and synthesis for singularly perturbed systems. It paves the way for the gap between frequency-domain-transfer-function-based results and time-domain-state-space-based results to be bridged. It is divided into three parts focusing on: fundamental background of singular perturbation; general singular perturbation methodologies and time-scale techniques and the theoretical foundation of finite-frequency control; the analysis and synthesis of singularly perturbed systems; and real-world engineering applications implementing the results developed in systems like wind turbines and autonomous-aerial-vehicle hovering. It also presents solutions to analysis and design problems in terms of linear matrix inequalities. Lastly, it provides valuable reference material for researchers who wish to explore the design of controllers for such systems.
Author: Marcio S. de Queiroz Publisher: Springer Science & Business Media ISBN: 1461213525 Category : Technology & Engineering Languages : en Pages : 321
Book Description
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.
Author: Xueyan Xing Publisher: Springer Nature ISBN: 9811615322 Category : Technology & Engineering Languages : en Pages : 264
Book Description
This book aims at investigating PDE modeling and vibration control of some typical mechanical distributed parameter systems. Several control methods are proposed to realize stabilization of the closed-loop system with the help of mathematical tools and stability analysis methods. Besides, some common engineering problems, such as input and output constraints, are also involved in the control design. This book offers a comprehensive introduction of mechanical distributed parameter systems, including PDE modeling, controller design and stability analysis. The related fundamental mathematical tools and analytical approaches involving in the PDE modeling and controller are also provided, which broadens its reach to readers.
Author: Fei-Yue Wang Publisher: World Scientific ISBN: 9789812796721 Category : Technology & Engineering Languages : en Pages : 464
Book Description
Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering
Author: Kshetrimayum Lochan Publisher: CRC Press ISBN: 1040152201 Category : Technology & Engineering Languages : en Pages : 236
Book Description
Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Author: Jinkun Liu
Author: Jinkun Liu
Author: Zhijie Liu
Author: Yu Liu
Author: Alexander L. Zuyev
Author: Miroslav Krstic
Author: Chenxiao Cai
Author: Marcio S. de Queiroz
Author: Xueyan Xing
Author: Fei-Yue Wang
Author: Kshetrimayum Lochan