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Lyapunov-Based Control of Mechanical Systems (Paperback, Softcover reprint of the original 1st ed. 2000)
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Lyapunov-Based Control of Mechanical Systems (Paperback, Softcover reprint of the original 1st ed. 2000)
Series: Control Engineering
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The design of nonlinear controllers for mechanical systems has been
an ex tremely active area of research in the last two decades. From
a theoretical point of view, this attention can be attributed to
their interesting dynamic behavior, which makes them suitable
benchmarks for nonlinear control the oreticians. On the other hand,
recent technological advances have produced many real-world
engineering applications that require the automatic con trol of
mechanical systems. the mechanism for de Often, Lyapunov-based
techniques are utilized as veloping different nonlinear control
structures for mechanical systems. The allure of the Lyapunov-based
framework for mechanical system control de sign can most likely be
assigned to the fact that Lyapunov function candi dates can often
be crafted from physical insight into the mechanics of the system.
That is, despite the nonlinearities, couplings, and/or the flexible
effects associated with the system, Lyapunov-based techniques can
often be used to analyze the stability of the closed-loop system by
using an energy like function as the Lyapunov function candidate.
In practice, the design procedure often tends to be an iterative
process that results in the death of many trees. That is, the
controller and energy-like function are often constructed in
concert to foster an advantageous stability property and/or
robustness property. Fortunately, over the last 15 years, many
system the ory and control researchers have labored in this area to
produce various design tools that can be applied in a variety of
situations.
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