Description
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.
Table of Contents
1 Introduction
1.1 Underactuated Mechanical Systems
1.2 Nonholonomic Constraints
1.3 Motivations and Control Objectives
2 Adaptive Control of Nonholonomic Mobile Robots with Input Saturation
2.1 Introduction
2.2 System Model and Problem Statement
2.3 Controller Design
2.4 Simulation Results
2.5 Conclusions
2.6 Appendix
3 Tracking Control of Underactuated Ships with Input Saturation
3.1 Introduction
3.2 Problem Formation
3.3 Controller Design
3.4 Simulations
3.5 Conclusion
3.6 Appendix
4 Stabilization Control of Underactuated Ships with Input Saturation
4.1 Introduction
4.2 Problem Formation
4.3 Controller Design
4.4 Simulations
4.5 Conclusion
5 Global Adaptive Stabilization Control of Underactuated Ships with Nussbaum Function
5.1 Introduction
5.2 A Novel Nassbaum Function and A Key Lemma
5.3 Problem Formation and Controller Design
5.4 Simulations
5.5 Conclusion
6 Adaptive Output Feedback Control of Nonholonomic Mobile Robots
6.1 Introduction
6.2 Robot Model and Problem Formulation
6.3 Adaptive State Feedback Control: An Intermediate Step
6.4 Adaptive Output Feedback Control
6.5 Simulation Results
6.6 Conclusions
7 Adaptive Output Feedback Control of Underactuated Ships
7.1 Introduction
7.2 Problem Formulation
7.3 Adaptive State-feedback Control Design
7.4 Adaptive Output-feedback Control Design
7.5 Simulation Results
7.6 Conclusions
7.7 Appendix
8 Adaptive Fault-Tolerant Control of Underactuated Ships with Actuator Redundancy
8.1 Introduction
8.2 Problem Formulation
8.3 Design of Adaptive Controllers
8.4 Simulation Results
8.5 Conclusions
9 Adaptive Fault-Tolerant Control of Underactuated Ships without Actuator Redundancy
9.1 Introduction
9.2 Problem Statement
9.3 Controller Design
9.4 Simulation Results
9.5 Conclusion
10 Adaptive Formation Control of Multiple Nonholonomic Mobile Robots
10.1 Introduction
10.2 Problem Formulation
10.2.1 Change of Coordinates
10.2.2 Formation Control Objective
10.3 Control Design
10.4 Simulation Results
10.5 Conclusion
11 Adaptive Flocking Control of Multiple Nonholonomic Mobile Robots
11.1 Introduction
11.2 Problem Formulation
11.3 Control Design
11.3.1 Potential Function
11.3.2 Flocking Control Design
11.4 Simulation Results
11.5 Conclusion
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