Block Backstepping Design of Nonlinear State Feedback by Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra

By Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra

This ebook offers a unique, generalized method of the layout of nonlinear nation suggestions regulate legislation for a wide type of underactuated mechanical platforms according to software of the block backstepping process. The keep an eye on legislations proposed this is strong opposed to the results of version uncertainty in dynamic and steady-state functionality and addresses the problem of asymptotic stabilization for the category of underactuated mechanical platforms.
An underactuated approach is outlined as one for which the measurement of area spanned through the configuration vector is bigger than that of the distance spanned through the keep watch over variables. keep an eye on difficulties pertaining to underactuated structures at present signify an lively box of analysis as a result of their extensive variety of functions in robotics, aerospace, and marine contexts. The publication derives a generalized thought of block backstepping keep watch over layout for underactuated mechanical structures, and examines numerous case reports that disguise attention-grabbing examples of underactuated mechanical structures. The mathematical derivations are defined utilizing famous notations and easy algebra, with no the necessity for any distinctive earlier history in greater arithmetic. The chapters are lucidly defined in a scientific demeanour, beginning with keep watch over procedure preliminaries and relocating directly to a generalized description of the block backstepping procedure, sooner than turning to numerous case stories. Simulation and experimental effects also are supplied to help in reader comprehension.

Show description

Read or Download Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems PDF

Best control systems books

Sampled-Data Models for Linear and Nonlinear Systems

Sampled-data versions for Linear and Nonlinear structures presents a clean new examine a subject matter with which many researchers might imagine themselves widely used. instead of emphasising the variations among sampled-data and continuous-time structures, the authors continue from the idea that, with smooth sampling premiums being as excessive as they're, it's turning into extra applicable to stress connections and similarities.

Advances in unmanned aerial vehicles: state of the art and the road to autonomy

There was great emphasis in unmanned aerial cars, either one of fastened (airplanes) and rotary wing (vertical take off and touchdown, helicopters) kinds over the last ten years. functions span either civilian and army domain names, the latter being an important at this degree. This edited publication offers an excellent and varied reference resource relating to simple, utilized learn and improvement on small and miniature unmanned aerial autos, either fastened and rotary wing.

Timing Verification of Application-Specific Integrated Circuits

Highlights ideas and methods over particular instruments. a number of layout examples and Verilog codes supply sensible illustrations of the entire thoughts. DLC: Application-specific built-in circuits--Design and building.

Dynamic Systems in Management Science: Design, Estimation and Control

Dynamic structures in administration technological know-how explores the $64000 gaps within the latest literature on operations learn and administration technology via supplying new and operational tools that are demonstrated in useful surroundings and quite a few new purposes.

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

Example text

All these shortcomings of the previously proposed approaches had strongly motivated the authors to conceive an alternate control approach for achieving a tradeoff between theory and practice. However, while the authors were looking for a suitable control law that could be utilized to serve the said purpose, they observed different features of backstepping could help them to reach their objective. After that they toiled for a period of eighteen months, around the clock, and eventually they have devised a block backstepping control law, which is generalized enough to address the control problem of most of the UMS.

E. z_ 1 ¼ Àk1 v1 À c1 z1 þ z2 and z_ 2 ¼ Àz1 À c2 z2 . The desired dynamics of z2 is expressed in Eq. 11) as following: ð3:12Þ z_ 2 ¼ Àz1 À c2 z2 Please note that the dynamics z1 as mentioned in Eq. 8) together with the desired dynamics of z2 as shown in the above Eq. 12) describe the dynamics of a stable system, which resembles the state model of a second order stable system with two poles located at −c1, and −c2, respectively. State model of the reduced order system in z1, z2 coordinate is shown below: z_ 1 ¼ z2 À c1 z1 À kv1 z_ 2 ¼ Àz1 À c2 z2 ð3:13Þ Consequently, from Eqs.

In the above equation, gðqÞ is represented by g, and henceforth for the ease of representation, f ðq; pÞ and gðqÞ will be denoted by f and g, respectively. Construction of K matrix can be illustrated with the following examples of a six dimensional system where the dimension À Á of actuated configuration variable is 4 q2 2 R4 , and the dimension of À Á unactuated configuration variable is 2 q1 2 R2 . structure of K matrix is shown in Eq. 23) 2 k1 60 K¼6 40 0 3 0 k2 7 7 05 0 ð3:23Þ In order to find out the expression of stabilizing function, time derivative of z1 has been calculated as shown in the following Eq.

Download PDF sample

Rated 4.71 of 5 – based on 34 votes