丛书名：
lecture notes in control and information sciences
1000年
addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links. The non-minimum phase characteristic, coupling effects, nonline...
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ISBN:
(数字)9781846285721
ISBN:
(纸本)9781852334093
addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links. The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties. control strategies that ignore these uncertainties and nonlinearities generally fail to provide satisfactory closed-loop performance. This monograph develops and experimentally evaluates several intelligent (neural network based) control techniques to address the problem of controlling the end-point of flexible-link manipulators in the presence of all the aforementioned difficulties. To highlight the main issues, a very flexible-link manipulator whose hub exhibits a considerable amount of friction is considered for the experimental work. Four different neural network schemes are proposed and implemented on the experimental test-bed. The neural networks are trained and employed as online controllers.
丛书名：
lecture notes in control and information sciences
1000年
The aim of these lecturenotes is to provide a synthesis between classical input-output and closed-loop stability theory, in particular the small-gain and passivity theorems, and recent work on nonlinear H( and passiv...
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ISBN:
(数字)9783540706892
The aim of these lecturenotes is to provide a synthesis between classical input-output and closed-loop stability theory, in particular the small-gain and passivity theorems, and recent work on nonlinear H( and passivity-based control. The treatment of the theory of dissipative systems is the main aspect of these lecturenotes. Fundamentals of passivity techniques are summarised, and it is shown that the passivity properties of different classes of physical systems can be unified within a generalised Hamiltonian framework. Key developments in linear robust control theory are extended to the nonlinear context using L2-gain techniques. An extensive treatment of nonlinear H( control theory is presented, emphasising its main structural features. Since the application of L2-gain techniques relies on solving Hamilton-Jacobi inequalities the structure of their solution sets and conditions for solvability are derived.
丛书名：
lecture notes in control and information sciences
1000年
This book examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined utilizing Lyapunov techniques. The performance of each ...
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ISBN:
(数字)9781846285745
ISBN:
(纸本)9781852334147
This book examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined utilizing Lyapunov techniques. The performance of each controller is either illustrated through simulation results or experimental results. The final chapter describes how the control techniques developed for wheeled mobile robots can be applied to solve other problems with similar governing differential equations (e.g., twin rotor helicopters, surface vessels). Several appendices are included to provide the reader with the mathematical background utilized in the control development and stability analysis. Two appendices are also included that provide specific details with regard to the modifications that were done to commercially available mobile robots (e.g., a K2A manufactured by Cybermotion Inc. and a Pioneer II manufactured by Activemedia) to experimentally demonstrate the performance of the torque input controllers.
丛书名：
lecture notes in control and information sciences
1000年
The workshop on control Mechanics, originated in 1988, beca-me an annual event and gained considerable recognition inadvancing control of nonlinear and uncertain mechanical sy-tems and promoting application of advan...
详细信息
ISBN:
(数字)9783540466062
ISBN:
(纸本)9783540549543
The workshop on control Mechanics, originated in 1988, beca-
me an annual event and gained considerable recognition in
advancing control of nonlinear and uncertain mechanical sy-
tems and promoting application of advanced mechanics in con-
trol. The fourth meeting continues the tradition with 17
papers containing original and recent work of the partici-
pants developed in 3 basic directions: feed-back control of
uncertain systems, flexible mechanical structures and flight
control.
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