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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.
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.
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