By F. Lamnabhi-Lagarrigue, A. Lor´ıa, E. Panteley (Eds.)
"Advanced themes up to speed structures concept" comprises chosen contributions written by way of teachers on the moment (annual) Formation d’Automatique de Paris (FAP) (Graduate keep watch over college in Paris). it's addressed to graduate scholars and researchers up to the mark thought with themes referring to a number of parts of curiosity to the keep an eye on group comparable to cascaded structures, flatness, optimum keep watch over, and Hamiltonian and infinite-dimensional platforms. The reader is supplied with a well-integrated synthesis of the most recent considering in those topics with no the necessity for an exhaustive literature overview. "Advanced issues on top of things structures conception" can be utilized to aid both a one-term common complex direction on nonlinear keep an eye on conception, devoting a number of lectures to every bankruptcy, or for extra targeted and in depth classes at graduate point. The book’s concise yet pedagogical demeanour will supply a terrific begin to researchers wishing to develop their wisdom in features of recent keep watch over conception outdoor their very own services.
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Additional resources for Advanced Topics in Control Systems Theory: Lecture Notes from FAP 2004
Pages 3805–3810, New Orleans, LA. 8. T. I. Fossen (1994) Guidance and control of ocean vehicles. John Wiley & Sons Ltd. 9. T. I. Fossen and J. P. Strand (1999) Passive nonlinear observer design for ships using Lyapunov methods: Full-scale experiments with a supply vessel. Automatica, 35(1):3–16. 10. W. Hahn (1967) Stability of motion. Springer-Verlag, New York. 11. P. Ioannou and J. Sun (1996) Robust adaptive control. Prentice Hall, New Jersey, USA. 12. M. Jankovi´c, R. Sepulchre, and P. V. Kokotovi´c (1996) Constructive Lyapunov stabilization of non linear cascaded systems.
In particular we shall derive necessary and suﬃcient controllability conditions in the following cases: • In the attitude control problem we shall characterize how many gas jets we need to control the orientation and what the positions of the gas jets on the satellite are. g. the tangential/normal frame: F = ut Ft + un Fn + uc Fc , where q˙ Ft = , Fn perpendicular to Ft in the q, q˙ plane and Fc normal to this |q| ˙ plane. The controllability problem is to characterize the accessibility set if the control is oriented along one of the Ft , Fn or Fc direction only.
8. The cascaded decomposition used above is not unique. One may ﬁnd other ways to subdivide the original system, for which diﬀerent control laws may be found. Notice that the structure that we have used has an interesting physical interpretation: roughly speaking we have proved that the positioning and the orientation of the cart can be controlled independently of each other. 108) where u1 and u2 are regarded as torques or generalized force variables for the two-degree-of-freedom mobile robot. 109) is USGES and UGAS.
Advanced Topics in Control Systems Theory: Lecture Notes from FAP 2004 by F. Lamnabhi-Lagarrigue, A. Lor´ıa, E. Panteley (Eds.)