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Author: Francesco Bullo
Publisher: Springer
Published: 2019-06-12
Total Pages: 741
ISBN-13: 1489972765
DOWNLOAD EBOOKThe area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.
Author: Amal Choukchou-Braham
Publisher: Springer Science & Business Media
Published: 2013-11-18
Total Pages: 148
ISBN-13: 3319026364
DOWNLOAD EBOOKThis monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. The text is illustrated with MATLABsup®/sup/Simulink® simulations that demonstrate the effectiveness of the methods detailed./ppReaders interested in aircraft, vehicle control or various forms of walking robot will be able to learn from iUnderactuated Mechanical Systems
Author: Piernicola Bettiol
Publisher: Springer
Published: 2015-09-01
Total Pages: 242
ISBN-13: 3319069179
DOWNLOAD EBOOKSince the 1950s control theory has established itself as a major mathematical discipline, particularly suitable for application in a number of research fields, including advanced engineering design, economics and the medical sciences. However, since its emergence, there has been a need to rethink and extend fields such as calculus of variations, differential geometry and nonsmooth analysis, which are closely tied to research on applications. Today control theory is a rich source of basic abstract problems arising from applications, and provides an important frame of reference for investigating purely mathematical issues. In many fields of mathematics, the huge and growing scope of activity has been accompanied by fragmentation into a multitude of narrow specialties. However, outstanding advances are often the result of the quest for unifying themes and a synthesis of different approaches. Control theory and its applications are no exception. Here, the interaction between analysis and geometry has played a crucial role in the evolution of the field. This book collects some recent results, highlighting geometrical and analytical aspects and the possible connections between them. Applications provide the background, in the classical spirit of mutual interplay between abstract theory and problem-solving practice.
Author: An-chyau Huang
Publisher: World Scientific
Published: 2015-01-29
Total Pages: 229
ISBN-13: 9814663565
DOWNLOAD EBOOKIn this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems.
Author: Bruno Siciliano
Publisher: Springer
Published: 2014-03-12
Total Pages: 298
ISBN-13: 9783662192047
DOWNLOAD EBOOKFocusing on the important control problems in state-of-the-art robotics and automation, this volume features invited papers from a workshop held at CDC, San Diego, California. As well as looking at current problems, it aims to identify and discuss challenging issues that are yet to be solved but which will be vital to future research directions. The many topics covered include: automatic control, distributed multi-agent control, multirobots, dexterous hands, flexible manipulators, walking robots, free-floating systems, nonholonomic robots, sensor fusion, fuzzy control, virtual reality, visual servoing, and task synchronization. Control Problems in Robotics and Automation will be of interest to all researchers, scientists and graduate students who wish to broaden their knowledge in robotics and automation and prepare themselves to address and resolve the control problems that will be faced in this field as we enter the twenty-first century.
Author: Weijia Yao
Publisher: Springer Nature
Published: 2023-07-25
Total Pages: 273
ISBN-13: 3031291522
DOWNLOAD EBOOKUsing a designed vector field to guide robots to follow a given geometric desired path has found a range of practical applications, such as underwater pipeline inspection, warehouse navigation, and highway traffic monitoring. It is thus in great need to build a rigorous theory to guide practical implementations with formal guarantees. It is even so when multiple robots are required to follow predefined desired paths or maneuver on surfaces and coordinate their motions to efficiently accomplish repetitive and laborious tasks. The book introduces guiding vector fields on Euclidean spaces and Riemannian manifolds for single-robot and multi-robot path-following and motion coordination, provides rigorous theoretical guarantees of vector field guided motion control of robotic systems, and elaborates on the practical implementation of the proposed algorithms on mobile wheeled robots and fixed-wing aircraft. It provides guidelines for the robust, reliable, and safe practical implementations for robotic tasks, including path-following navigation, obstacle-avoidance, and multi-robot motion coordination. In particular, the book reveals fundamental theoretic underpinnings of guiding vector fields and applies to addressing various robot motion control problems. Notably, it answers many crucial and challenging questions such as: · How to generate a general guiding vector field on any n-dimensional Riemannian manifold for robot motion control tasks? · Do singular points always exist in a general guiding vector field? · How to generate a guiding vector field that is free of singular points? · How to design control algorithms based on guiding vector fields for different robot motion control tasks including path-following, obstacle-avoidance, and multi-robot distributed motion coordination? Answering these questions has led to the discovery of fundamental assumptions, a “topological surgery” to create a singularity-free guiding vector field, a robot navigation algorithm with the global convergence property, a provably safe collision-avoidance algorithm and an effective distributed motion control algorithm, etc
Author: Yang, Yinping
Publisher: KIT Scientific Publishing
Published: 2017-05-02
Total Pages: 256
ISBN-13: 3731506262
DOWNLOAD EBOOKThe present work deals with the inverse dynamics simulation of underactuated multibody systems. In particular, the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. The use of servo constraints provides an approach to formulate trajectory tracking control problems of underacutated systems, which are also called underactuated servo constraint problems.
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Publisher: ScholarlyEditions
Published: 2012-01-09
Total Pages: 743
ISBN-13: 1464965315
DOWNLOAD EBOOKIssues in Calculus, Mathematical Analysis, and Nonlinear Research: 2011 Edition is a ScholarlyEditions™ eBook that delivers timely, authoritative, and comprehensive information about Calculus, Mathematical Analysis, and Nonlinear Research. The editors have built Issues in Calculus, Mathematical Analysis, and Nonlinear Research: 2011 Edition on the vast information databases of ScholarlyNews.™ You can expect the information about Calculus, Mathematical Analysis, and Nonlinear Research in this eBook to be deeper than what you can access anywhere else, as well as consistently reliable, authoritative, informed, and relevant. The content of Issues in Calculus, Mathematical Analysis, and Nonlinear Research: 2011 Edition has been produced by the world’s leading scientists, engineers, analysts, research institutions, and companies. All of the content is from peer-reviewed sources, and all of it is written, assembled, and edited by the editors at ScholarlyEditions™ and available exclusively from us. You now have a source you can cite with authority, confidence, and credibility. More information is available at http://www.ScholarlyEditions.com/.
Author: Eusebio E. Hernandez
Publisher: Springer Nature
Published: 2020-05-13
Total Pages: 341
ISBN-13: 3030454029
DOWNLOAD EBOOKThis volume gathers the latest advances, innovations, and applications in the field of robotics engineering, as presented by leading international researchers and engineers at the Latin American Symposium on Industrial and Robotic Systems (LASIRS), held in Tampico, Mexico on October-November 30-01 2019. The contributions cover all major areas of R&D and innovation in simulation, optimization, and control of robotics, such as design and optimization of robots using numerical and metaheuristic methods, autonomous and control systems, industrial compliance solutions, numerical simulations for manipulators and robots, metaheuristics applied to robotics problems, Industry 4.0, control and automation in petrochemical processes, simulation and control in aerospace and aeronautics, and education in robotics. The conference represented a unique platform to share the latest research and developments in simulation, control and optimization of robotic systems, and to promote cooperation among specialists in machine and mechanism area.
Author: José Alexandre Gonçalves
Publisher: Springer Nature
Published: 2020-09-08
Total Pages: 810
ISBN-13: 3030586537
DOWNLOAD EBOOKThis book offers a timely and comprehensive snapshot of research and developments in the field of control engineering. Covering a wide range of theoretical and practical issues, the contributions describes a number of different control approaches, such adaptive control, fuzzy and neuro-fuzzy control, remote and robust control systems, real time an fault tolerant control, among others. Sensors and actuators, measurement systems, renewable energy systems, aerospace systems as well as industrial control and automation, are also comprehensively covered. Based on the proceedings of the 14th APCA International Conference on Automatic Control and Soft Computing, held on July 1-3, 2020, in Bragança, Portugal, the book offers a timely and thoroughly survey of the latest research in the field of control, and a source of inspiration for researchers and professionals worldwide.
