Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems

ISBN-13: 9781138089020 / Twarda / 2017 / 244 str.

Opis

The purpose of the book is to provide an exposition of recently developed adaptive and fault-tolerant control of underactuated nonlinear systems. Underactuated systems are abundant in real life, ranging from landing vehicles to surface ships and underwater vehicles to spacecrafts. For the tracking and stabilization control of underactuated mechanical systems, many methodologies have been proposed. However, a number of important issues deserve further investigation. In response to these issues, four important problems are solved in this book, including control of underactuated nonlinear systems with input saturation, output-feedback control in the presence of parametric uncertainties, fault-tolerant control of underactuated ships with or without actuator redundancy, and adaptive control of multiple underactauted nonlinear systems, including formation control and flocking control of multiple underactuated systems.

Spis treści

Introduction. Adaptive Control of Mobile Robots with Input Saturation. Tracking Control of Ships with Input Saturation. Stabilization Control of Ships with Input Saturation. Global Adaptive Stabilization Control with Nussbaum Function. Adaptive Output Feedback Control of Mobile Robots. Adaptive Output Feedback Control of Ships. Adaptive Fault-Tolerant Control with Actuator Redundancy. Adaptive Fault-Tolerant Control without Actuator Redundancy. Adaptive Formation Control of Multiple Mobile Robots. Adaptive Flocking Control of Multiple Mobile Robots.