Lyapunov-based control of mechanical systems pdf free

The design of nonlinear controllers for mechanical systems has been an ex tremely active area of. In boskovic and krstic 1999, a lyapunov based control law is developed for attitudeposition. Lyapunov based nonlinear control of electrical and mechanical systems. Lyapunovbased control of mechanical systems book, 2000. The result is achieved via a judicious formulation of the. The presentation illustrates, in a unified framework, how recent lyapunovbased techniques can be used to solve a variety of nonlinear control problems for mechanical systems. Here, we present a lyapunovbased control approach on the lines of that developed by mirrahimi, rouchon, turnici 2005. By adding control to the continuous dynamics, overall stability properties of a gait tend to improve as has been observed in, e. A sliding mode control approach smc is used for achieving maximum power tracking mpt control of solarpv array. Lyapunovbased model predictive control springerlink. Lyapunov control of quantum systems with impulsive control. Abstractthis paper deals with control of a solar photovoltaic pv power generating system interfaced with the grid.

Lyapunovbased control of mechanical systems springerlink. Lyapunovbased control of mechanical systems control engineering. Arts lab, scuola superiore santanna, pisa, italy department of information engineering, univ. Lyapunovbased control of mechanical systems 2000 marcio s. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurementrelated issues, the authors use lyapunovs direct method as an effective tool to design and. Mechanical system draw a free body diagram, showing all forces and their directions write equation of motion and derive. The lyapunovbased controllers define a general class of feedback control laws which result in the closedloop system achieving negative definiteness of the drift of the lyapunov function derivative over the set. In this work, a ductfan aerial vehicle is used to achieve contact inspection tasks. Using the control field, the largest invariant set of quantum systems with impulsive control fields is 15, 16, where. It is well known that every mechanical appliances behavior noticeably depends on environmental changes, functioningmode parameter changes and changes in technical characteristics of internal functional devices. In control theory, a control lyapunov function is a lyapunov function for a system with control inputs. Lyapunovbased impact time control guidance laws against stationary targets. In the last few years, because of a wide variety of applications of the quantum control theory, such as quantum chemistry, quantum information processing, and quantum electronics, considerable attention has been focused on quantum control theory, and the growing interest in this subject has been attributed to both theoretical and experimental breakthroughs 19 and. Request pdf lyapunovbased control of mechanical systems the synthesis of controllers basically involves two steps.

From the invariant principle lemma 1, the quantum systems with impulsive control fields will converge to. Adaptive lyapunovbased control of a robot and massspring system undergoing. The lyapunov functionbased control approach is designed and modeled for the dcac inverter to serve the functions. Lyapunovbased control of mechanical systems marcio s. Lyapunovbased control of robotic systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. A new lyapunov based robust control for uncertain mechanical systems. Dynamical system theory lies at the heart of mathematical sciences and engineering. Lyapunovbased control of mechanical systems control engineering queiroz, marcio s. Lyapunovbased control of mechanical systems semantic scholar. Slung load authors in 10 explored the possibility of using single and. Lyapunovbased nonlinear missile guidance journal of. This book describes how lyapunovbased techniques can be used.

The ordinary lyapunov function is used to test whether a dynamical system is stable more restrictively, asymptotically stable. The states are assumed to be obtained from weak measurements. Lyapunov based model reference adaptive control for aerial. Vtol vehicles 51 and an entire class of underactuated mechanical systems 65. It consists of a weight m on a spring with spring constant k, its motion damped by friction with coefficient f fig. Lyapunovbased control of mechanical systems by marcio s. Lyapunovbased control of saturated and timedelayed nonlinear systems by nicholas fischer december 2012 chair. Strojniski vestnik journal of mechanical engineering 6220163, 163170 design of lyapunov based nonlinear position control of electrohydraulic servo systems 165 result of this displacement, the cross sections of the orifices associated with the nozzles change.

This book provides a practical yet rigorous development of nonlinear, lyapunovbased. A free body diagram of the pvtol aircraft is shown in figure 2. Lyapunovbased control of mechanical systems is a very valuable addition to the literature on control of mechanical systems, nonlinear control methods, adaptive control, and control of the infinite dimensional systems. Lyapunovbased controller for a class of stochastic. Lyapunovbased fault tolerant control of quadrotor unmanned aerial vehicles and submitted in partial fulfillment of the requirements of the degree of master of applied science mechanical engineering complies with the regulations of the university and meets the accepted standards with respect to originally and quality. Modeling mechanical systems california state university. Since real chaotic systems have undesired randomlike behaviors which have also been deteriorated by environmental noise, chaotic systems are modeled by exciting a deterministic chaotic system with a white noise obtained from derivative of wiener process which. The title of this book is lyapunovbased control of mechanical systems control engineering and it was written by marcio s. Lyapunovbased control of mechanical systems control. Find materials for this course in the pages linked along the left. Recent advancements in lyapunovbased design and analysis techniques have applications to a broad class of engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems. Design of lyapunov based nonlinear position control of. Lyapunovbased control of mechanical systems hb171504, queiroz ms books, springer books, 9780817640866 at meripustak. Lyapunovbased control of mechanical systems request pdf.

A springmass mechanical system xdisplacement of the mass from the rest position. Recently there has been extensive research in the control of the underactuated mechanical systems due to the broad range of available applications. This thesis considers the problem of control of nonlinear systems subject to limited availabil. Lyapunovbased controllers for stochastic nonlinear systems, lyapunovbased stabilizing control laws that explicitly characterize region of attraction of the closedloop system in a probabilistic sense have been proposed e. A mechanical system with a rotating wheel of mass m w uniform. Lyapunov based nonlinear control of electrical and. Nonlinear control of engineering systems a lyapunov. Airplanes, rockets, helicopters, overhead crane loads, surface vessels, and underwater vehicles are all. Set that the eigenvalues of are, and the corresponding eigenstates are. Lyapunov function and sliding mode control approach for. A lyapunovbased approach for the control of biomimetic robotic systems with periodic forcing inputs domenico campolo. Lyapunovbased control of mechanical systems applied.

Starting from a simple, marginally stable model considered for lyapunov based boundary control of flexible mechanical systems, we add a term driving an instability and prove that for an. Examples of control systems used in industry control theory is a relatively new field in engineering when compared with core topics, such as statics, dynamics, thermodynamics, etc. This study presents a general control law based on lyapunovs direct method for a group of wellknown stochastic chaotic systems. Lyapunovbased model predictive control of stochastic. Article pdf available in ieee control systems magazine 252. The authors presented a mechanical design to cope with inherent zero dynamics of the system.

The lyapunov control technique has not been applied to realistic quantum systems so far. Early examples of control systems were developed actually before the science was fully understood. Adaptive control systems are one of the most significant research directions of modern control theory. Mechanical engineering time delays and actuator saturation are two phenomena which affect the performance of dynamic systems under closedloop control. Springer nature is making sarscov2 and covid19 research free. Lyapunovbased stochastic nonlinear model predictive. This book provides a practical yet rigorous development of nonlinear, lyapunovbased tools and their use in the solution of control theoretic problems. The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades.