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Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles
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Nonlinear Control of Mechanical Systems: A Reimannian Geometry Approach
Francesco bullo phd dissertation, caltech, august 1998.
Nonlinear control of mechanical systems is a challenging discipline that lies at the intersection between control theory and geometric mechanics. This thesis sheds new light on this interplay while investigating motion control problems for Lagrangian systems. Both stability and motion planning aspects are treated within a unified framework that accounts for a large class of devices such as robotic manipulators, autonomous vehicles and locomotion systems.
One distinguishing feature of mechanical systems is the number of control forces. For systems with as many input forces as degrees of freedom, many control problems are tractable. One contribution of this thesis is a set of trajectory tracking controllers designed via the notions of configuration and velocity error. The proposed approach includes as special cases a variety of results on joint and workspace control of manipulators as well as on attitude and position control of vehicles.
Whenever fewer input forces are available than degrees of freedom, various control questions arise. The main contribution of this thesis is the design of motion algorithms for vehicles, i.e., rigid bodies moving in Euclidean space. First, an algebraic controllability analysis characterizes the set of reachable configurations and velocities for a system starting at rest. Then, provided a certain controllability condition is satisfied, various motion algorithms are proposed to perform tasks such as short range reconfiguration and hovering.
Finally, stabilization techniques for underactuated systems are investigated. The emphasis is on relative equilibria, i.e., steady motions for systems that have a conserved momentum. Local exponential stabilization is achieved via an appropriate splitting of the control authority.
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Analysis and Synthesis of Nonlinear Control Systems
A Convex Optimisation Approach
- © 2022
- Miguel Bernal ORCID: https://orcid.org/0000-0003-3488-6180 0 ,
- Antonio Sala ORCID: https://orcid.org/0000-0002-5691-8772 1 ,
- Zsófia Lendek ORCID: https://orcid.org/0000-0003-4539-7876 2 ,
- Thierry Marie Guerra ORCID: https://orcid.org/0000-0001-5483-9651 3
Department of Electrical and Electronics Engineering, Sonora Institute of Technology, Obregon, Mexico
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Inst. U. Automática e Informática Industrial, Universitat Politècnica de València, Valencia, Spain
Department of automation, technical university of cluj-napoca, cluj-napoca, romania, department of automation and control, lami humr cnrs 8201, université polytechnique hauts-de-france, valenciennes, france.
- Provides an overview of latest developments within synthesis of convex-optimization-based control of nonlinear systems
- Offers both background information and up-to-date research, making it a self-contained guide
- Includes fully worked-out examples, with enough detail to be reproduced by readers
Part of the book series: Studies in Systems, Decision and Control (SSDC, volume 408)
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Table of contents (7 chapters)
Front matter, introduction.
- Miguel Bernal, Antonio Sala, Zsófia Lendek, Thierry Marie Guerra
Problems to Be Solved and Scope of the Book
Modelling via convex structures, stability analysis, state feedback, performance, and robustness, observation and output feedback, conclusions and perspectives, back matter.
- Nonlinear Control Systems
- Quasi-Linear Parameter Varying Systems
- Takagi-Sugeno Models
- Polynomial Models
- Descriptor Models
- Linear Fractional Transformation Models
- Lyapunov-Based Methods
- Convex Optimization
- Linear Matrix Inequalities
- Sum-of-Squares Tools
About this book
This book presents a modern perspective on the modelling, analysis, and synthesis ideas behind convex-optimisation-based control of nonlinear systems: it embeds them in models with convex structures.
Authors and Affiliations
Miguel Bernal
Antonio Sala
Zsófia Lendek
Thierry Marie Guerra
About the authors
Professor Miguel Bernal received his PhD in Automatic Control from the Czech Technical University at Prague in 2005. He was a post-doctoral researcher at the University of Valenciennes and Hainaut-Cambrésis, France, from 2006 to 2009. He has been a member of the National Research System of Mexico since 2007. In 2011, he was appointed Full Professor at the Sonora Institute of Technology, Mexico. He has led and supervised several research projects and PhD theses in Mexico and elsewhere on nonlinear control via convex structures and linear matrix inequalities, an area where he counts more than 40 journal papers and over 1300 citations. Since 2015, he has served as Associate Editor for the journal Fuzzy Sets and Systems.
Bibliographic Information
Book Title : Analysis and Synthesis of Nonlinear Control Systems
Book Subtitle : A Convex Optimisation Approach
Authors : Miguel Bernal, Antonio Sala, Zsófia Lendek, Thierry Marie Guerra
Series Title : Studies in Systems, Decision and Control
DOI : https://doi.org/10.1007/978-3-030-90773-0
Publisher : Springer Cham
eBook Packages : Intelligent Technologies and Robotics
Copyright Information : The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2022
Hardcover ISBN : 978-3-030-90772-3 Published: 06 February 2022
Softcover ISBN : 978-3-030-90775-4 Published: 07 February 2023
eBook ISBN : 978-3-030-90773-0 Published: 05 February 2022
Series ISSN : 2198-4182
Series E-ISSN : 2198-4190
Edition Number : 1
Number of Pages : X, 345
Number of Illustrations : 20 b/w illustrations, 42 illustrations in colour
Topics : Control and Systems Theory , Optimization , Systems Theory, Control , Statistical Theory and Methods
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Daniel Guggenheim School of Aerospace Engineering
College of engineering, ph.d. defense: carlota bonnet.
Location URL
Ph.D. Defense
Carlota Bonnet
(Advisor: Prof. Marilyn J. Smith)
will defend a doctoral thesis entitled,
Physics and Modeling of Nonlinear Sharp-Edged Transverse Gust Encounters and Applications to Urban Environments
Tuesday, April 30
9:00 a.m. Montgomery Knight 317 and virtual on Teams: https://teams.microsoft.com/l/meetup-join/19%3ameeting_MDc1ZWI5ZTQtNDllMi00Mjg0LTk3NDgtYzI2YjE3YjU5ZGE3%40thread.v2/0?context=%7b%22Tid%22%3a%22482198bb-ae7b-4b25-8b7a-6d7f32faa083%22%2c%22Oid%22%3a%22af0448b1-ec41-4245-99ba-fb5b74e6bb1b%22%7d
Meeting ID: 298 435 175 267
Passcode: D8kWhy
The advent of smaller, lighter Urban Air Mobility (UAM) and Uncrewed Aerial Vehicles (UAV) focus on missions that are performed primarily in urban and nap-of-the-earth environments. These vehicles, with slower forward flight speeds and reduced mass ratios flying through large transients, have led to a renewed interest of gusts (discrete turbulence) and their impact on vehicle response. This knowledge is required to ensure both safety and the reduction of noise during operations, in particular during takeoff and landing (terminal operations).
As such, a greater understanding of the flow physics of large canonical wing-gust interactions is required in order to accurately model these physics during vehicle design, especially for manned and autonomous control law development. This understanding requires the development of physical and computational experiments that accurately capture the details of the flow field so that existing linear models can be expanded or new theories developed.
This defense will present the development of a computational methodology to model nonlinear sharp-edged transverse gusts and validate the results against experimental data. The methodology is then used to characterize the behavior of a lifting surface encountering transverse gusts of varying amplitudes and widths to isolate the fundamental physics which characterize the transition from traditional linear gust responses to nonlinear gust responses for traverse gusts with a top-hat profile. Lastly, the effect of vertical motion on the vehicle response is analyzed.
- Prof. Marilyn J. Smith – School of Aerospace Engineering
- Prof. Brian J. German – School of Aerospace Engineering
- Prof. Jonnalagadda V. R. Prasad– School of Aerospace Engineering
- Prof. Juergen Rauleder – School of Aerospace Engineering
- Dr. John Hrynuk – Research Mechanical Engineer, DEVCOM Army Research Lab
- Dr. Brett Peters – Senior Aerodynamics Engineer, REGENT Craft Inc.
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IMAGES
VIDEO
COMMENTS
The main goal of this thesis is to demonstrate that MPC is a control method that is suitable for dynamic operation of nonlinear constrained systems. To this end, we con-sider trajectory tracking, output regulation and general economic problems, introduce corresponding MPC designs and derive rigorous theoretical properties for the resulting
STABILITY, CONTROL, AND OPTIMIZATION OF NONLINEAR DYNAMICAL SYSTEMS WITH APPLICATIONS IN ELECTRIC POWER NETWORKS A Dissertation Presented to The Academic Faculty By Amin Gholami In Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy in the H. Milton Stewart School of Industrial and Systems Engineering (ISyE)
Analysis and design of nonlinear systems in the frequency domain By: Yun-Peng Zhu A thesis submitted in partial fulfilment of the requirements for the degree of ... this PhD thesis. I also want to express my thankfulness to the research and work staffs of the department for their kind help
This thesis aims at designing observers for a class of nonlinear dynamical systems by. using observer normal forms method and the modulating functions method. The main. design idea is to transform ...
problems of system identification and model reduction for nonlinear systems. Three different approaches to the identification of nonlinear systems are developed using nonlinear realization theory, ideas from subspace identification and functional equa-tions. The model reduction problem at isolated singularities is then posed and solved
His PhD Thesis was awarded with the Extraordinary Prize of Town Hall of Sevilla. Currently, he is an Associate Professor at the Department of Applied Mathematics II of the University of Seville. His research covers different aspects of Dynamical Systems, in particular, those related to piecewise smooth systems of differential equations.
In practice, most engineering systems are complex and nonlinear. When confronted with a nonlinear systems engineering problem, the first approach usually is to linearize the system to avoid the nonlinear aspects of the problem, but it is only effective in the neighbour of the chosen operating point. Large deviations from this
nonlinear systems are proposed in this thesis and their correctness is proved. Theoretical results concerned with, or related to, the problem of control design for nonlinear systems, emerging from the main theme of this work, are also included. Special emphasis is put on the constructzon of stabilizing control laws.
Nominated as an outstanding PhD thesis by Universitat Politècnica de Catalunya, Barcelona, Spain; ... All in all, this book offers a comprehensive report on the state-of-the-art in nonlinear observer design for energy systems, including mathematical demonstrations, and numerical and and experimental validations. ...
This thesis is concerned with the application of set-theoretical methods to problems in anal-ysis, estimation and control of nonlinear systems. Set-theoretical concepts are often used in the formulationof variousproblemsin science andengineering. One ofthe keyenablers for
This thesis is devoted to nonlinear control, reduction, and classification of underactuated mechanical systems. Underactuated systems are mechanical control systems with fewer controls than the number of configuration variables. ... The obtained cascade normal forms are three classes of nonlinear systems, namely, systems in strict feedback form ...
PhD Dissertation, Caltech, August 1998. Nonlinear control of mechanical systems is a challenging discipline that lies at the intersection between control theory and geometric mechanics. This thesis sheds new light on this interplay while investigating motion control problems for Lagrangian systems. Both stability and motion planning aspects are ...
for general nonlinear systems and for the less general linear case as well. The thesis will also present some new theoretical results that contribute to the development of the state-space realization topic. Speci cally, an important result will show that if a system can be identi ed by an input-output equation of a particular form, which
In this work, two methods are studied to design an optimal input for nonlinear dynamic systems. The first method assumes that system can be described as a discrete finite memory system and that ...
As a result, nonlinear nanomechanical resonators ofier a convenient playground for studies of nonlinear dynamics as well as open up new possibilities for enhancing performance of NEMS devices. To illustrate both of these trends, the thesis presents experimental investigations of nonlinear dynamics using nanoresonators
PhD thesis of Northeastern University, Shenyang: North-Eastern University, 1994. 194: ... 2015. 174: 2015: A high-order internal model based iterative learning control scheme for nonlinear systems with time-iteration-varying parameters. C Yin, JX Xu, Z Hou. IEEE Transactions on Automatic Control 55 (11), 2665-2670, 2010. 169: 2010:
He has led and supervised several research projects and PhD theses in Mexico and elsewhere on nonlinear control via convex structures and linear matrix inequalities, an area where he counts more than 40 journal papers and over 1300 citations. Since 2015, he has served as Associate Editor for the journal Fuzzy Sets and Systems.
Nonlinear elliptic systems with a variational structure : existence, asymptotics and other qualitative properties @inproceedings{Tavares2010NonlinearES, title={Nonlinear elliptic systems with a variational structure : existence, asymptotics and other qualitative properties}, author={Hugo Ricardo Nabais Tavares}, year={2010}, url={https://api ...
data of nonlinear dynamical models for understanding and (re-)design/control, and an inordinate amount of time is still being spent on the manual aggregation of information and development of models that explains these data. In particular, this thesis considers sparse modelling and estimation for a selection of nonlinear dynamical systems classes.
The article deals with numerical analysis of nonlinear vibration isolation system free oscillations. According to the latest recommendations [1], vibration isolation of precision equipment should ...
Carlota Bonnet. (Advisor: Prof. Marilyn J. Smith) will defend a doctoral thesis entitled, Physics and Modeling of Nonlinear Sharp-Edged Transverse Gust Encounters and Applications to Urban Environments. On. Tuesday, April 30. Meeting ID: 298 435 175 267. Passcode: D8kWhy. Abstract.
This paper examines the history and social life of the underground public spaces in three Moscow Metro stations just north of Red Square and the Kremlin: Okhotny Ryad, Tverskaya, and Ploshchad Revolyutsii stations. Moscow's subway originated from two motivations: to improve the public transit system and to revitalize Moscow's centre instead ...
Theaters in Moscow. Bolshoi Theater. Address: Teatralnaya Sq., 1. From the very outset of its existence the Bolshoi Theater was in the center of Moscow cultural life. The State Academic Bolshoi Theater is one of the oldest in the capital of Russia. It was constructed at the beginning of the 19th century and officially opened in 1825.
The Moscow Hotels Russia provides travelers with the most useful and up-to-date information on the best hotels of Moscow. With the help of our website you can easily reserve a room in any hotel of Moscow through our online reservation system. In addition to hotel reservations, we offer a full range of travel services.