Control of nonlinear dynamical systems: methods and applications

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 Presents a collection of new methods of control for complex dynamical systems, sme of them developed by the authors in the past 15years Includes various engineering systems examples such as: robotic manipulators, pendular systems, electromechanical systems, electric motors, or multibody systems with dry friction INDICE: Optimal control.- Decomposition method (the first approach).- Decomposition method (the second approach).- Stability based control for Lagrangian mechanical Systems.- Piece-wise linear control for mechanical systems under uncertainty.- Synthesis of continuous control for mechanical systems under uncertainty.- Control in distributed-parameter systems.- Controlled system under complex constraints.- Optimal control problems under complex constraints.- Feedback control of nonlinear pendulums.

• ISBN: 978-3-540-70782-0
• Editorial: Springer
• Encuadernacion: Cartoné
• Páginas: 400
• Fecha Publicación: 01/09/2008
• Nº Volúmenes: 1
• Idioma: Inglés