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Backstepping Control of Nonlinear Dynamical Systems

Backstepping Control of Nonlinear Dynamical Systems
A Book

by Sundarapandian Vaidyanathan,Ahmad Taher Azar

  • Publisher : Academic Press
  • Release : 2020-08-15
  • Pages : 532
  • ISBN : 0128175834
  • Language : En, Es, Fr & De
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Backstepping Control of Nonlinear Dynamical Systems addresses both the fundamentals of backstepping control and advances in the field. The latest techniques explored include ‘active backstepping control’, ‘adaptive backstepping control’, ‘fuzzy backstepping control’ and ‘adaptive fuzzy backstepping control’. The reference book provides numerous simulations using MATLAB and circuit design. These illustrate the main results of theory and applications of backstepping control of nonlinear control systems. Backstepping control encompasses varied aspects of mechanical engineering and has many different applications within the field. For example, the book covers aspects related to robot manipulators, aircraft flight control systems, power systems, mechanical systems, biological systems and chaotic systems. This multifaceted view of subject areas means that this useful reference resource will be ideal for a large cross section of the mechanical engineering community. Details the real-world applications of backstepping control Gives an up-to-date insight into the theory, uses and application of backstepping control Bridges the gaps for different fields of engineering, including mechanical engineering, aeronautical engineering, electrical engineering, communications engineering, robotics and biomedical instrumentation

Nonlinear Dynamical Systems and Control

Nonlinear Dynamical Systems and Control
A Lyapunov-Based Approach

by Wassim M. Haddad,VijaySekhar Chellaboina

  • Publisher : Princeton University Press
  • Release : 2011-09-19
  • Pages : 944
  • ISBN : 1400841046
  • Language : En, Es, Fr & De
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Nonlinear Dynamical Systems and Control presents and develops an extensive treatment of stability analysis and control design of nonlinear dynamical systems, with an emphasis on Lyapunov-based methods. Dynamical system theory lies at the heart of mathematical sciences and engineering. The application of dynamical systems has crossed interdisciplinary boundaries from chemistry to biochemistry to chemical kinetics, from medicine to biology to population genetics, from economics to sociology to psychology, and from physics to mechanics to engineering. The increasingly complex nature of engineering systems requiring feedback control to obtain a desired system behavior also gives rise to dynamical systems. Wassim Haddad and VijaySekhar Chellaboina provide an exhaustive treatment of nonlinear systems theory and control using the highest standards of exposition and rigor. This graduate-level textbook goes well beyond standard treatments by developing Lyapunov stability theory, partial stability, boundedness, input-to-state stability, input-output stability, finite-time stability, semistability, stability of sets and periodic orbits, and stability theorems via vector Lyapunov functions. A complete and thorough treatment of dissipativity theory, absolute stability theory, stability of feedback systems, optimal control, disturbance rejection control, and robust control for nonlinear dynamical systems is also given. This book is an indispensable resource for applied mathematicians, dynamical systems theorists, control theorists, and engineers.

Backstepping Control of Nonlinear Dynamical Systems

Backstepping Control of Nonlinear Dynamical Systems
A Book

by Sundarapandian Vaidyanathan,Ahmad Taher Azar

  • Publisher : Academic Press
  • Release : 2020-08-15
  • Pages : 500
  • ISBN : 9780128175828
  • Language : En, Es, Fr & De
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Backstepping Control of Nonlinear Dynamical Systems addresses both the fundamentals of backstepping control as well as the advances in the field. The latest techniques that are explored include 'active backstepping control', 'adaptive backstepping control', 'fuzzy backstepping control' and 'adaptive fuzzy backstepping control' - this exploits a gap in the market as it plainly discusses the process, history, and definition of backstepping control. The reference book provides numerous simulations using MATLAB and circuit design. These illustrate the main results of theory and applications of backstepping control of nonlinear control systems. Backstepping control encompasses varied aspects of mechanical engineering and has many different applications within the field. For example, the book covers aspects related to robot manipulators, aircraft flight control systems, power systems, mechanical systems, biological systems and chaotic systems. This multi-faceted aspect of the subject area means that the subject matter will be a useful reference resource for a large cross section of the mechanical engineering community. Details the real-world applications of backstepping control Gives an up-to-date insight into the theory, uses, and application of backstepping control Bridges the gaps for different fields of engineering including mechanical engineering, aeronautical engineering, electrical engineering, communications engineering, robotics and biomedical instrumentation

Adaptive Backstepping Control of Uncertain Systems

Adaptive Backstepping Control of Uncertain Systems
Nonsmooth Nonlinearities, Interactions or Time-Variations

by Jing Zhou,Changyun Wen

  • Publisher : Springer
  • Release : 2008-01-08
  • Pages : 242
  • ISBN : 3540778071
  • Language : En, Es, Fr & De
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This book employs the powerful and popular adaptive backstepping control technology to design controllers for dynamic uncertain systems with non-smooth nonlinearities. Various cases including systems with time-varying parameters, multi-inputs and multi-outputs, backlash, dead-zone, hysteresis and saturation are considered in design and analysis. For multi-inputs and multi-outputs systems, both centralized and decentralized controls are addressed. This book not only presents recent research results including theoretical success and practical development such as the proof of system stability and the improvement of system tracking and transient performance, but also gives self-contained coverage of fundamentals on the backstepping approach illustrated with simple examples. Detail description of methodologies for the construction of adaptive laws, feedback control laws and associated Lyapunov functions is systematically provided in each case. Approaches used for the analysis of system stability and tracking and transient performances are elaborated. Two case studies are presented to show how the presented theories are applied.

Nonlinear and Adaptive Control Design

Nonlinear and Adaptive Control Design
A Book

by Miroslav Krstic,Ιωάννης Κανελλακόπουλος,Petar V. Kokotovic,Petar V. Kokotović

  • Publisher : Wiley-Interscience
  • Release : 1995-06-14
  • Pages : 563
  • ISBN : 9876543210XXX
  • Language : En, Es, Fr & De
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An introduction to a new design for nonlinear control systems--backstepping--written by its own architects. This innovative book breaks new ground in nonlinear and adaptive control design for systems with uncertainties. Introducing the recursive backstepping methodology, it shows--for the first time--how uncertain systems with severe nonlinearities can be successfully controlled with this new powerful design tool. Communicative and accessible at a level not usually present in research texts, Nonlinear and Adaptive Control Design can be used as either a stand-alone or a supplemental text in courses on nonlinear or adaptive control, as well as in control research and applications. It eases the reader into the subject matter, assuming only standard undergraduate knowledge of control theory, and provides a pedagogical presentation of the material, most of which is completely new and not available in other textbooks. Written by the creators of backstepping, the book: * Introduces the basic design tools and demonstrates their effectiveness through worked examples * Provides detailed proofs and application examples (active suspension, jet engine, induction motor, and many others) * Develops adaptive backstepping, tuning functions, and modular designs with full state feedback * Generalizes the methodology to nonlinear systems with output feedback * Describes the advantages of the new adaptive nonlinear techniques over traditional methods * Offers a systematic methodology for performance improvement * Provides new designs for linear systems which can be used independently from therest of the book * Is self-contained with an extensive summary of stability and passivity prerequisites * Includes sixty illustrations and tables with design algorithms Nonlinear and Adaptive Control Design is an absolute must for researchers and graduate students with an interest in nonlinear systems, adaptive control, stability and differential equations and for anyone who would like to find out about the new and exciting advances in these areas.

Advances and Applications in Nonlinear Control Systems

Advances and Applications in Nonlinear Control Systems
A Book

by Sundarapandian Vaidyanathan,Christos Volos

  • Publisher : Springer
  • Release : 2016-03-17
  • Pages : 683
  • ISBN : 3319301691
  • Language : En, Es, Fr & De
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The book reports on the latest advances and applications of nonlinear control systems. It consists of 30 contributed chapters by subject experts who are specialized in the various topics addressed in this book. The special chapters have been brought out in the broad areas of nonlinear control systems such as robotics, nonlinear circuits, power systems, memristors, underwater vehicles, chemical processes, observer design, output regulation, backstepping control, sliding mode control, time-delayed control, variables structure control, robust adaptive control, fuzzy logic control, chaos, hyperchaos, jerk systems, hyperjerk systems, chaos control, chaos synchronization, etc. Special importance was given to chapters offering practical solutions, modeling and novel control methods for the recent research problems in nonlinear control systems. This book will serve as a reference book for graduate students and researchers with a basic knowledge of electrical and control systems engineering. The resulting design procedures on the nonlinear control systems are emphasized using MATLAB software.

Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems

Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems
A Book

by Shubhobrata Rudra,Ranjit Kumar Barai,Madhubanti Maitra

  • Publisher : Springer
  • Release : 2016-09-08
  • Pages : 171
  • ISBN : 9811019568
  • Language : En, Es, Fr & De
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This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.

Nonlinear Dynamical Systems with Self-Excited and Hidden Attractors

Nonlinear Dynamical Systems with Self-Excited and Hidden Attractors
A Book

by Viet-Thanh Pham,Sundarapandian Vaidyanathan,Christos Volos,Tomasz Kapitaniak

  • Publisher : Springer
  • Release : 2018-02-26
  • Pages : 497
  • ISBN : 3319712438
  • Language : En, Es, Fr & De
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This book highlights the latest findings on nonlinear dynamical systems including two types of attractors: self-excited and hidden attractors. Further, it presents both theoretical and practical approaches to investigating nonlinear dynamical systems with self-excited and hidden attractors. The book includes 20 chapters contributed by respected experts, which focus on various applications such as biological systems, memristor-based systems, fractional-order systems, finance systems, business cycles, oscillators, coupled systems, hyperchaotic systems, flexible robot manipulators, electronic circuits, and control models. Special attention is given to modeling, design, circuit realization, and practical applications to address recent research problems in nonlinear dynamical systems. The book provides a valuable reference guide to nonlinear dynamical systems for engineers, researchers, and graduate students, especially those whose work involves mechanics, electrical engineering, and control systems.

Variable Structure Systems: Towards the 21st Century

Variable Structure Systems: Towards the 21st Century
A Book

by Xinghuo Yu,Jian-Xin Xu

  • Publisher : Springer
  • Release : 2003-07-01
  • Pages : 418
  • ISBN : 354045666X
  • Language : En, Es, Fr & De
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The book is a collection of contributions concerning the theories, applications and perspectives of Variable Structure Systems (VSS). Variable Structure Systems have been a major control design methodology for many decades. The term Variable Structure Systems was introduced in the late 1950’s, and the fundamental concepts were developed for its main branch Sliding Mode Control by Russian researchers Emelyanov and Utkin. The 20th Century has seen the formation and consolidation of VSS theory and its applications. It has also seen an emerging trend of cross-fertilization and integration of VSS with other control and non-control techniques such as feedback linearization, ?atness, passivity based control, adaptive and learning ? control, system identi?cation, pulse width modulation, H geometric and algebraic methods, arti?cial intelligence, modeling and optimization, neural networks, fuzzy logic, to name just a few. This trend will continue and ?ourish in the new millennium. To re?ect these major developments in the 20th Century, this book - cludes 16 specially invited contributions from well-known experts in VSS theory and applications, covering a wide range of topics. The ?rst chapter, “First Stage of VSS: People and Events” written by Vadim Utkin, the founder of VSS, oversees and documents the historical developments of VSS in the 20th Century, including many interesting events not known to the West until now. The second chapter, “An Integrated Learning Variable Structure Control Method” written by Jian-Xin Xu, addresses an important issue regarding control integration between variable structure control and learning control.

Nonlinear Control Systems and Power System Dynamics

Nonlinear Control Systems and Power System Dynamics
A Book

by Qiang Lu,Yuanzhang Sun,Shengwei Mei

  • Publisher : Springer Science & Business Media
  • Release : 2013-04-17
  • Pages : 376
  • ISBN : 1475733127
  • Language : En, Es, Fr & De
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Nonlinear Control Systems and Power System Dynamics presents a comprehensive description of nonlinear control of electric power systems using nonlinear control theory, which is developed by the differential geometric approach and nonlinear robust control method. This book explains in detail the concepts, theorems and algorithms in nonlinear control theory, illustrated by step-by-step examples. In addition, all the mathematical formulation involved in deriving the nonlinear control laws of power systems are sufficiently presented. Considerations and cautions involved in applying nonlinear control theory to practical engineering control designs are discussed and special attention is given to the implementation of nonlinear control laws using microprocessors. Nonlinear Control Systems and Power System Dynamics serves as a text for advanced level courses and is an excellent reference for engineers and researchers who are interested in the application of modern nonlinear control theory to practical engineering control designs.

Adaptive Backstepping Control of Uncertain Systems with Actuator Failures, Subsystem Interactions, and Nonsmooth Nonlinearities

Adaptive Backstepping Control of Uncertain Systems with Actuator Failures, Subsystem Interactions, and Nonsmooth Nonlinearities
A Book

by Wei Wang,Changyun Wen,Jing Zhou

  • Publisher : CRC Press
  • Release : 2017-09-18
  • Pages : 274
  • ISBN : 1351650890
  • Language : En, Es, Fr & De
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In practice, actuators often undergo failures and various factors influence its effectiveness. Also due to the increasing complexity of large-scale systems, subsystems are often interconnected, whereas the interactions between any two subsystems are difficult to deal with. This book details a series of new methodologies of designing and analyzing adaptive backstepping control systems involving treatment on actuator failures, subsystem interactions and nonsmooth nonlinearities. Moreover, it discusses some interesting open issues in adaptive failure accommodation, decentralized adaptive control and distributed adaptive coordinated control.

Non-linear Control for Underactuated Mechanical Systems

Non-linear Control for Underactuated Mechanical Systems
A Book

by Isabelle Fantoni,Rogelio Lozano

  • Publisher : Springer Science & Business Media
  • Release : 2012-12-06
  • Pages : 295
  • ISBN : 1447101774
  • Language : En, Es, Fr & De
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This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

Aerial Robots

Aerial Robots
Aerodynamics, Control and Applications

by Omar D Lopez Mejia,Jaime Escobar

  • Publisher : BoD – Books on Demand
  • Release : 2017-09-06
  • Pages : 194
  • ISBN : 9535134639
  • Language : En, Es, Fr & De
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Few years ago, the topic of aerial robots was exclusively related to the robotics community, so a great number of books about the dynamics and control of aerial robots and UAVs have been written. As the control technology for UAVs advances, the great interaction that exists between other systems and elements that are as important as control such as aerodynamics, energy efficiency, acoustics, structural integrity, and applications, among others has become evident. Aerial Robots - Aerodynamics, Control, and Applications is an attempt to bring some of these topics related to UAVs together in just one book and to look at a selection of the most relevant problems of UAVs in a broader engineering perspective.

Robust Nonlinear Control Design

Robust Nonlinear Control Design
State-Space and Lyapunov Techniques

by Randy A. Freeman,Petar V. Kokotovic

  • Publisher : Springer Science & Business Media
  • Release : 2009-05-21
  • Pages : 257
  • ISBN : 0817647597
  • Language : En, Es, Fr & De
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This softcover book summarizes Lyapunov design techniques for nonlinear systems and raises important issues concerning large-signal robustness and performance. The authors have been the first to address some of these issues, and they report their findings in this text. The researcher who wishes to enter the field of robust nonlinear control could use this book as a source of new research topics. For those already active in the field, the book may serve as a reference to a recent body of significant work. Finally, the design engineer faced with a nonlinear control problem will benefit from the techniques presented here.

Current Trends in Nonlinear Systems and Control

Current Trends in Nonlinear Systems and Control
In Honor of Petar Kokotovic and Turi Nicosia

by Petar V. Kokotović,Turi Nicosia,Laura Menini,Luca Zaccarian,Chaouki T. Abdallah

  • Publisher : Springer Science & Business Media
  • Release : 2006
  • Pages : 560
  • ISBN : 9780817643836
  • Language : En, Es, Fr & De
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This volume is an outgrowth of the workshop "Applications of Advanced Control Theory to Robotics and Automation," organized in honor of the 70th birthdays of Petar V. Kokotovic and Salvatore Nicosia. Both Petar and Turi have carried out distinguished work in the control community, and have long been recognized as mentors as well as experts and pioneers in the field of automatic control, covering many topics in control theory and several different applications. The variety of their research is reflected in this book, which includes contributions ranging from mathematics to laboratory experiments.Main topics covered include:* Observer design for time-delay systems, nonlinear systems, and identification for different classes of systems* Lyapunov tools for linear differential inclusions, control of constrained systems, and finite-time stability concepts* New studies of robot manipulators, parameter identification, and different control problems for mobile robots* Applications of modern control techniques to port-controlled Hamiltonian systems, different classes of vehicles, and web handling systems* Applications of the max-plus algebra to system-order reduction; optimal machine scheduling problems; and inventory control with cooperation between retailers* Control of linear and nonlinear networked control systems: deterministic and stochastic approachesThe scope of the work is very broad, and although each chapter is self-contained, the book has been organized into thematically related chapters, which in some cases suggest to the reader a convenient reading sequence. The great variety of topics covered and the almost tutorial writing style used by many of the authors will make this book suitable for experts, as well as young researchers who seek a more intuitive understanding of these relevant topics in the field.

Advances in Neural Networks- ISNN 2013

Advances in Neural Networks- ISNN 2013
10th International Symposium on Neural Networks, ISNN 2013, Dalian, China, July 4-6, 2013, Proceedings

by Chengan Guo,Zeng-Guang Hou,Zhigang Zeng

  • Publisher : Springer
  • Release : 2013-07-04
  • Pages : 653
  • ISBN : 3642390684
  • Language : En, Es, Fr & De
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The two-volume set LNCS 7951 and 7952 constitutes the refereed proceedings of the 10th International Symposium on Neural Networks, ISNN 2013, held in Dalian, China, in July 2013. The 157 revised full papers presented were carefully reviewed and selected from numerous submissions. The papers are organized in following topics: computational neuroscience, cognitive science, neural network models, learning algorithms, stability and convergence analysis, kernel methods, large margin methods and SVM, optimization algorithms, varational methods, control, robotics, bioinformatics and biomedical engineering, brain-like systems and brain-computer interfaces, data mining and knowledge discovery and other applications of neural networks.

Radial Basis Function (RBF) Neural Network Control for Mechanical Systems

Radial Basis Function (RBF) Neural Network Control for Mechanical Systems
Design, Analysis and Matlab Simulation

by Jinkun Liu

  • Publisher : Springer Science & Business Media
  • Release : 2013-01-26
  • Pages : 365
  • ISBN : 3642348165
  • Language : En, Es, Fr & De
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Radial Basis Function (RBF) Neural Network Control for Mechanical Systems is motivated by the need for systematic design approaches to stable adaptive control system design using neural network approximation-based techniques. The main objectives of the book are to introduce the concrete design methods and MATLAB simulation of stable adaptive RBF neural control strategies. In this book, a broad range of implementable neural network control design methods for mechanical systems are presented, such as robot manipulators, inverted pendulums, single link flexible joint robots, motors, etc. Advanced neural network controller design methods and their stability analysis are explored. The book provides readers with the fundamentals of neural network control system design. This book is intended for the researchers in the fields of neural adaptive control, mechanical systems, Matlab simulation, engineering design, robotics and automation. Jinkun Liu is a professor at Beijing University of Aeronautics and Astronautics.

Advanced Synchronization Control and Bifurcation of Chaotic Fractional-Order Systems

Advanced Synchronization Control and Bifurcation of Chaotic Fractional-Order Systems
A Book

by Boulkroune, Abdesselem,Ladaci, Samir

  • Publisher : IGI Global
  • Release : 2018-05-11
  • Pages : 539
  • ISBN : 152255419X
  • Language : En, Es, Fr & De
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In the recent years, fractional-order systems have been studied by many researchers in the engineering field. It was found that many systems can be described more accurately by fractional differential equations than by integer-order models. Advanced Synchronization Control and Bifurcation of Chaotic Fractional-Order Systems is a scholarly publication that explores new developments related to novel chaotic fractional-order systems, control schemes, and their applications. Featuring coverage on a wide range of topics including chaos synchronization, nonlinear control, and cryptography, this publication is geared toward engineers, IT professionals, researchers, and upper-level graduate students seeking current research on chaotic fractional-order systems and their applications in engineering and computer science.

Fractional Dynamics and Control

Fractional Dynamics and Control
A Book

by Dumitru Baleanu,José António Tenreiro Machado,Albert C. J. Luo

  • Publisher : Springer Science & Business Media
  • Release : 2011-11-19
  • Pages : 310
  • ISBN : 9781461404576
  • Language : En, Es, Fr & De
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Fractional Dynamics and Control provides a comprehensive overview of recent advances in the areas of nonlinear dynamics, vibration and control with analytical, numerical, and experimental results. This book provides an overview of recent discoveries in fractional control, delves into fractional variational principles and differential equations, and applies advanced techniques in fractional calculus to solving complicated mathematical and physical problems.Finally, this book also discusses the role that fractional order modeling can play in complex systems for engineering and science.

Nonlinear Control Systems

Nonlinear Control Systems
Analysis and Design

by Horacio Márquez

  • Publisher : Wiley-Interscience
  • Release : 2003-04-25
  • Pages : 376
  • ISBN : 9780471427995
  • Language : En, Es, Fr & De
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Provides complete coverage of both the Lyapunov and Input-Output stability theories, ina readable, concise manner. * Supplies an introduction to the popular backstepping approach to nonlinear control design * Gives a thorough discussion of the concept of input-to-state stability * Includes a discussion of the fundamentals of feedback linearization and related results. * Details complete coverage of the fundamentals of dissipative system's theory and its application in the so-called L2gain control prooblem, for the first time in an introductory level textbook. * Contains a thorough discussion of nonlinear observers, a very important problem, not commonly encountered in textbooksat this level. *An Instructor's Manual presenting detailed solutions to all the problems in the book is available from the Wiley editorial department.