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Zusatztext "The book addresses dynamic modeling and control design methods for nonlinear mechanical systems. The understanding of the author is that these two topics are closely related and should be studied together. ... All chapters are illustrated with examples. Each chapter of the book ends with a list of references. The book is addressed to graduate and postgraduate students as well as to control engineers and researches. A basic course in analytical mechanics and linear control theory is appreciated."-Zentralblatt MATH 1281 Informationen zum Autor Elzbieta Jarzebowska is an associate professor in the Institute of Aeronautics and Applied Mechanics at the Warsaw University of Technology. She is a member of ASME! IEEE! GAMM! IFToMM Technical Committee of Mechatronics! and International SAR. Her research and teaching interests encompass dynamics modeling and analysis of multibody systems! nonlinear control of multibody systems! and geometric control theory. Klappentext Written by a well-known researcher! this book focuses on control design problems of dynamic nonlinear systems. It mainly discusses constrained mechanical and electromechanical systems! including manipulators! wheeled platforms and vehicles! and mobile robots. The book also describes underactuated systems! such as space and underwater vehicles. The author presents many model-based control algorithms dedicated to constrained systems in their adaptive and nonadaptive versions. The main control problems covered include stabilization! tracking! and path following. MATLAB is used throughout in the modeling and simulation examples. Zusammenfassung Model-Based Control of Nonlinear Systems presents model-based control techniques for nonlinear! constrained systems. It covers constructive control design methods with an emphasis on modeling constrained systems! generating dynamic control models! and designing tracking control algorithms for the models.The book's interdisciplinary approach illustrates how system modeling and control theory are essential to control design projects. Organized according to the steps in a control design project! the text first discusses kinematic and dynamic modeling methods! including programmed constraints! Lagrange's equations! Boltzmann?Hamel equations! and generalized programmed motion equations. The next chapter describes basic control concepts and the use of nonlinear control theory. After exploring stabilization strategies for nonlinear systems! the author presents existing model-based tracking control algorithms and path-following strategies for nonlinear systems. The final chapter develops a new model reference tracking strategy for programmed motion.Throughout the text! two examples of mechanical systems are used to illustrate the theory and simulation results. The first example is a unicycle model (nonholonomic system) and the second is a two-link planar manipulator model (holonomic system). With a focus on constructive modeling and control methods! this book provides the tools and techniques to support the control design process. Inhaltsverzeichnis Introduction. Dynamics Modeling of Constrained Systems. Introduction to Nonlinear Control Theory. Stabilization Strategies for Nonlinear Systems. Model-Based Tracking Control of Nonlinear Systems. Path-Following Strategies for Nonlinear Systems. Model Reference Tracking Control of High-Order Nonholonomic Systems. Concluding Remarks. ...
