丛书名：
lecture notes in control and information sciences
1000年
The field of nonsmooth impact dynamics and its applications to the control of robotic systems is examined in this monograph. The mathematical foundations of the dynamics of systems of rigid bodies submitted to a set o...
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ISBN:
(数字)9783540706816
The field of nonsmooth impact dynamics and its applications to the control of robotic systems is examined in this monograph. The mathematical foundations of the dynamics of systems of rigid bodies submitted to a set of unilateral constraints are introduced. Following on from this the macroscopic physical laws of shocks (restitution roles) are described and commented on. In view of the applications to feedback control, stability properties of trajectories of various types of measure differential equations are reviewed. This includes a general stability analysis framework suitable for a class of impacting robotic systems performing complete tasks. Finally, feedback control of manipulators subject to unilateral constraints (which consist of a class of hybrid systems) is studied.
Stochastic Recursive Algorithms for Optimization presents algorithms for constrained and unconstrained optimization and for reinforcement learning. Efficient perturbation approaches form a thread unifying all the algo...
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ISBN:
(数字)9781447142850
ISBN:
(纸本)9781447142843
Stochastic Recursive Algorithms for Optimization presents algorithms for constrained and unconstrained optimization and for reinforcement learning. Efficient perturbation approaches form a thread unifying all the algorithms considered. Simultaneous perturbation stochastic approximation and smooth fractional estimators for gradient- and Hessian-based methods are presented. These algorithms:;• are easily implemented;;• do not require an explicit system model; and;• work with real or simulated data.;Chapters on their application in service systems, vehicular traffic control and communications networks illustrate this point. The book is self-contained with necessary mathematical results placed in an appendix.;The text provides easy-to-use, off-the-shelf algorithms that are given detailed mathematical treatment so the material presented will be of significant interest to practitioners, academic researchers and graduate students alike. The breadth of applications makes the book appropriate for reader from similarly diverse backgrounds: workers in relevant areas of computer science, control engineering, management science, applied mathematics, industrial engineering and operations research will find the content of value.
丛书名：
lecture notes in control and information sciences
1000年
This monograph grew out of a combined effort to prove a conjecture concerning the characterization of Hamiltonian control systems in terms of their variational input-output behaviour. The main concepts and results of ...
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ISBN:
(数字)9783540479291
ISBN:
(纸本)9783540183723
This monograph grew out of a combined effort to prove a conjecture concerning the characterization of Hamiltonian control systems in terms of their variational input-output behaviour. The main concepts and results of this monograph are contained in chapters 1 to 6. Chapter 0 gives a brief introduction to Hamiltonian control systems, with particular emphasis on the relations between physical and control theoretical notions. Indeed, the study of Hamiltonian control systems is one of the places where (theoretical) physics and systems and control theory meet. We conclude the monograph with chapter 7 discussing some possible extensions to the theory presented, as well as some open problems.
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