Download Nonlinear Control of Engineering Systems: A Lyapunov-Based by Warren E. Dixon PDF

By Warren E. Dixon

Recent developments in Lyapunov-based layout and research concepts have functions to a large classification of engineering structures, together with mechanical, electric, robot, aerospace, and underactuated platforms. This e-book offers a pragmatic but rigorous improvement of nonlinear, Lyapunov-based instruments and their use within the resolution of control-theoretic difficulties. wealthy in motivating examples and new layout strategies, the textual content balances theoretical foundations and real-world implementation. beneficial properties comprise: * keep watch over designs for a large type of engineering structures * Presentation of adaptive and studying regulate tools for doubtful nonlinear platforms * Experimental testbed descriptions and effects that consultant the reader towards strategies for additional examine * improvement of beneficial mathematical historical past in every one bankruptcy; extra mathematical must haves contained in appendices meant for readers who've a few wisdom of undergraduate structures concept, the ebook encompasses a wide selection of purposes making it compatible for an intensive viewers. Graduate scholars and researchers up to the mark platforms, robotics, and utilized arithmetic, in addition to expert engineers will take pleasure in the work's mix of theoretical underpinnings and present and rising engineering applications.

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Desired motor velocity trajectory and motor velocity tracking error at 900 [rpm]. 9. Adaptive controller performance of the disk displacement along the x - and y-axis at 900 [rpm]. 5 1;; -2 ~ a. 5 ~ a. 10. Parameter estimates for the adaptive controller at 900 [rpm] : (a) mL sin (,8), (b) mL cos (,8), and (c) lem. + 2mL2. 3 Dynamically Positioned Ships In this section, two adaptive controllers are developed for dynamically positioned ships. The first controller uses a standard full-state feedback gradient-based adaptive update law.

13. 9 can be eliminated because the adaptive parameter estimates compensate for the mismatch between the actual parameters and the estimated parameters. 7, it is clear that the adaptive controller exhibits a longer transient. This observation can be attributed to the fact that the performance is linked to the speed at which the parameter estimates seem to converge to values that best accommodate for the parameter mismatch. 22). -------r------. 11. Position tracking error for an adaptive nonlinear controller.

20). 21), ¢1 (q, q, r, t) E jRP denotes a parameter estimate vector for cPl' and k p1 , kp2 E jR are positive control constants. 2 Autobalancing Systems 29 where the notation diag{·} indicates a diagonal matrix with the diagonal elements given in {-}. 24) can now be examined through the following theorem. 28) t ..... 3). 19) have been used. ll of Appendix A). 26) that r (t) E £00; hence, 30 2. coo. 31 ) lim r(t) = O. ij t ...... 28). 28). 4 DCAL-Based Adaptive Control In the previous section, a gradient-based adaptive controller was used to prove global asymptotic tracking of the angular disk velocity and global regulation of the center of geometry despite parametric uncertainty.

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