This book is a collection of contributions defining the state of current knowledge and new trends in hybrid systems – systems involving both continuous dynamics and discrete events – as described by the work of seve...
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ISBN:
(数字)9783319107950
ISBN:
(纸本)9783319107943
This book is a collection of contributions defining the state of current knowledge and new trends in hybrid systems – systems involving both continuous dynamics and discrete events – as described by the work of several well-known groups of researchers.;presents theoretical advances in such areas as diagnosability, observability and stabilization for various classes of system. Continuous and discrete state estimation and self-triggering control of nonlinear systems are advanced. The text employs various methods, among them, high-order sliding modes, Takagi–Sugeno representation and sampled-data switching to achieve its ends.;The many applications of hybrid systems from power converters to computer science are not forgotten; studies of flexible-joint robotic arms and – as representative biological systems – the behaviour of the human heart and vasculature, demonstrate the wide-ranging practical significance of control in hybrid systems. The cross-disciplinary origins of study in hybrid systems are evident.;Academic researchers and graduate students interested in hybrid and switched systems need look no further than;for a single source which will bring them up to date with work in this area from around the world.
丛书名：
lecture notes in control and information sciences
1000年
Though PID control has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, it has never been changed in the structure itself. The strength of ...
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ISBN:
(数字)9783540400417
ISBN:
(纸本)9783540205678
Though PID control has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, it has never been changed in the structure itself. The strength of PID control lies in the simplicity, lucid meaning, and clear e?ect. Though it must be a widely - cepted controller for mechanical control systems, it is still short of theoretical bases,e.g., optimality, performance tuning rules, automatic performance t- ing method, and output feedback PID control have not been clearly presented *** this book. There are many books of PID controller for the purpose of process control, but it is hard to ?nd a book on the characteristics of PID control for mechanical systems. In the ?rst place, when nonlinear optimal control theory is applied to mechanical systems, a class of Hamilton-Jacobi (HJ) equations is derived as a result of optimization. There are two methods to solve a class of HJ eq- tions: a direct method using an approximation and inverse method ?nding the performance index from a class of HJ equations. Also, there are two control methods according to the objective: the set-point regulation control and t- jectory tracking control. The trajectory tracking control is basically di?erent from set-point regulation one in that the desired con?guration, velocity and acceleration pro?les according to time progress are added to the motion of mechanical system. This book is focusing on an inverse optimization method and the trajectory tracking control system.
Frequency Domain Criteria for Absolute Stability focuses on recently-developed methods of delay-integral-quadratic constraints to provide criteria for absolute stability of nonlinear control systems. The known or assu...
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ISBN:
(数字)9781447142348
ISBN:
(纸本)9781447142331
Frequency Domain Criteria for Absolute Stability focuses on recently-developed methods of delay-integral-quadratic constraints to provide criteria for absolute stability of nonlinear control systems. The known or assumed properties of the system are the basis from which stability criteria are developed. Through these methods, many classical results are naturally extended, particularly to time-periodic but also to nonstationary systems. Mathematical prerequisites including Lebesgue-Stieltjes measures and integration are first explained in an informal style with technically more difficult proofs presented in separate sections that can be omitted without loss of continuity.;The results are presented in the frequency domain – the form in which they naturally tend to arise. In some cases, the frequency-domain criteria can be converted into computationally tractable linear matrix inequalities but in others, especially those with a certain geometric interpretation, inferences concerning stability can be made directly from the frequency-domain inequalities.;The book is intended for applied mathematicians and control systems theorists. It can also be of considerable use to mathematically-minded engineers working with nonlinear systems.
丛书名：
lecture notes in control and information sciences
1000年
This book constitutes the presentations made at the Advanced Research Workshop on Autonomous Robotic Systems, which was held at the University of Coimbra, Portugal, June 1997. The aim of the meeting was to bring toget...
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ISBN:
(数字)9781846285301
ISBN:
(纸本)9781852330361
This book constitutes the presentations made at the Advanced Research Workshop on Autonomous Robotic Systems, which was held at the University of Coimbra, Portugal, June 1997. The aim of the meeting was to bring together leading researchers in the area of autonomous systems for mobility and manipulation, and the aim of this book is to share the presentations with the reader. The book presents the most recent developments in the field. Topics include sensors and navigation in mobile robots, robot co-operation, telerobotics, legged robots, climbing robots and applications. Existing and emerging applications of autonomous syst ems are described in great detail, including applications in forestry, cleaning, mining, tertiary buildings, assistance to the elderly and handicapped, and surgery. The chapters are written in a structured and advanced tutorial style by leading specialists from Europe, Australia, Japan and USA. The style will allow the reader to grasp the state-of-the-art and research directions in the area of autonomous systems.
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