Ebook: Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications
Author: Romeo Ortega PhD Antonio Loría PhD Per Johan Nicklasson Dr Ing Hebertt Sira-Ramírez PhD (auth.)
- Tags: Control Robotics Mechatronics, Mechanical Engineering
- Series: Communications and Control Engineering
- Year: 1998
- Publisher: Springer-Verlag London
- Edition: 1
- Language: English
- pdf
New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. Unfortunately, the existing theory for general nonlinear systems cannot successfully deal with them. This book, which summarises the experience of the authors on control engineering applications over the past ten years aims to overcome this drawback by:
• Giving back to modelling the central role that it deserves, and focusing on the structural aspects that can be exploited for the controller design.
• Formalising mathematically current engineering practice, which is usually developed from practical experience and considerations, as opposed to theoretical analysis.
• Proposing new control laws that sometimes are viewed as "upgrades" to the existing schemes.
• Experimental validation, that confronts the new schemes with other theoretical studies or with industrial controllers.
The fundamental concept of passivity and the perspective of control as a suitable interconnection of the system with its environment are key ingredients in all the developments of the book, which is primarily aimed at control-orientated graduate students and researchers, but which will also have value for both practising engineers and those concerned with the more theoretical side of the subject.
The Communications and Control Engineering series reflects the major technological advances which have a great impact in the fields of communication and control. It reports on the research in industrial and academic institutions around the world to exploit the new possibilities which are becoming available.
New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. Unfortunately, the existing theory for general nonlinear systems cannot successfully deal with them. This book, which summarises the experience of the authors on control engineering applications over the past ten years aims to overcome this drawback by:
• Giving back to modelling the central role that it deserves, and focusing on the structural aspects that can be exploited for the controller design.
• Formalising mathematically current engineering practice, which is usually developed from practical experience and considerations, as opposed to theoretical analysis.
• Proposing new control laws that sometimes are viewed as "upgrades" to the existing schemes.
• Experimental validation, that confronts the new schemes with other theoretical studies or with industrial controllers.
The fundamental concept of passivity and the perspective of control as a suitable interconnection of the system with its environment are key ingredients in all the developments of the book, which is primarily aimed at control-orientated graduate students and researchers, but which will also have value for both practising engineers and those concerned with the more theoretical side of the subject.
The Communications and Control Engineering series reflects the major technological advances which have a great impact in the fields of communication and control. It reports on the research in industrial and academic institutions around the world to exploit the new possibilities which are becoming available.
New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. Unfortunately, the existing theory for general nonlinear systems cannot successfully deal with them. This book, which summarises the experience of the authors on control engineering applications over the past ten years aims to overcome this drawback by:
• Giving back to modelling the central role that it deserves, and focusing on the structural aspects that can be exploited for the controller design.
• Formalising mathematically current engineering practice, which is usually developed from practical experience and considerations, as opposed to theoretical analysis.
• Proposing new control laws that sometimes are viewed as "upgrades" to the existing schemes.
• Experimental validation, that confronts the new schemes with other theoretical studies or with industrial controllers.
The fundamental concept of passivity and the perspective of control as a suitable interconnection of the system with its environment are key ingredients in all the developments of the book, which is primarily aimed at control-orientated graduate students and researchers, but which will also have value for both practising engineers and those concerned with the more theoretical side of the subject.
The Communications and Control Engineering series reflects the major technological advances which have a great impact in the fields of communication and control. It reports on the research in industrial and academic institutions around the world to exploit the new possibilities which are becoming available.
Content:
Front Matter....Pages i-xxxiv
Introduction....Pages 1-13
Euler-Lagrange systems....Pages 15-37
Front Matter....Pages 39-39
Set-point regulation....Pages 41-91
Trajectory tracking control....Pages 93-113
Adaptive disturbance attenuation: Friction compensation....Pages 115-132
Front Matter....Pages 133-133
Modeling of switched DC-to-DC power converters....Pages 135-180
Passivity-based control of DC-to-DC power converters....Pages 181-239
Front Matter....Pages 241-241
Nested-loop passivity-based control: An illustrative example....Pages 243-263
Generalized AC motor....Pages 265-309
Voltage-fed induction motors....Pages 311-380
Current-fed induction motors....Pages 381-439
Feedback interconnected systems: Robots with AC drives....Pages 441-465
Other applications and current research....Pages 467-474
Back Matter....Pages 475-543
New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. Unfortunately, the existing theory for general nonlinear systems cannot successfully deal with them. This book, which summarises the experience of the authors on control engineering applications over the past ten years aims to overcome this drawback by:
• Giving back to modelling the central role that it deserves, and focusing on the structural aspects that can be exploited for the controller design.
• Formalising mathematically current engineering practice, which is usually developed from practical experience and considerations, as opposed to theoretical analysis.
• Proposing new control laws that sometimes are viewed as "upgrades" to the existing schemes.
• Experimental validation, that confronts the new schemes with other theoretical studies or with industrial controllers.
The fundamental concept of passivity and the perspective of control as a suitable interconnection of the system with its environment are key ingredients in all the developments of the book, which is primarily aimed at control-orientated graduate students and researchers, but which will also have value for both practising engineers and those concerned with the more theoretical side of the subject.
The Communications and Control Engineering series reflects the major technological advances which have a great impact in the fields of communication and control. It reports on the research in industrial and academic institutions around the world to exploit the new possibilities which are becoming available.
Content:
Front Matter....Pages i-xxxiv
Introduction....Pages 1-13
Euler-Lagrange systems....Pages 15-37
Front Matter....Pages 39-39
Set-point regulation....Pages 41-91
Trajectory tracking control....Pages 93-113
Adaptive disturbance attenuation: Friction compensation....Pages 115-132
Front Matter....Pages 133-133
Modeling of switched DC-to-DC power converters....Pages 135-180
Passivity-based control of DC-to-DC power converters....Pages 181-239
Front Matter....Pages 241-241
Nested-loop passivity-based control: An illustrative example....Pages 243-263
Generalized AC motor....Pages 265-309
Voltage-fed induction motors....Pages 311-380
Current-fed induction motors....Pages 381-439
Feedback interconnected systems: Robots with AC drives....Pages 441-465
Other applications and current research....Pages 467-474
Back Matter....Pages 475-543
....