Switched Finite Time Control of a Class of Underactuated Systems

1. Auflage 2006
ISBN: 978-3-540-32799-8
Verlag: Springer

Buch, Englisch, 102 Seiten, Format (B × H): 155 mm x 235 mm, Gewicht: 380 g

Reihe: Lecture Notes in Control and Information Sciences

The control of mechanical systems with constraints has been a topic of intense research in the control and dynamical systems community for the past two decades. In particular, systems with velocity and/or acceleration level constraints which appear in many applications like - robotics, spacecrafts, launch vehicles, underwater vehicles - have been studied intensively. This monograph is a self-contained exposition on a switched, finite-time, control strategy for this class of systems. Beginning with basic definitions and mathematical preliminaries, the monograph works its way up to the main control algorithm. Three well-studied applications are chosen to demonstrate the algorithm. Other facets of the algorithm and an alternate algorithm are also briefly touched upon.

The monograph is intended for graduate students and researchers in the area of nonlinear control and dynamical systems.

Zielgruppe

Research

Autoren/Hrsg.

Banavar, Ravi N.

Sankaranarayanan, Velupillai

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
• Technische Wissenschaften Technik Allgemein Technik: Allgemeines
• Mathematik | Informatik Mathematik Numerik und Wissenschaftliches Rechnen Angewandte Mathematik, Mathematische Modelle
• Mathematik | Informatik Mathematik Mathematische Analysis Variationsrechnung

Inhaltsverzeichnis

Mathematical preliminaries.- A switched finite-time controller design methodology.- Alternative control strategies for the NI.- Switched stabilization of a hovercraft.- Output feedback stabilization of a mobile robot.