Current Trends in Nonlinear Systems And Control

by Menini, Laura; Zaccarian, Luca; Abdallah, Chaouki T.; Kokotovic, Petar V.; Nicosia, Turi

• ISBN13: 9780817643836
• ISBN10: 0817643834
• Format: Hardcover
• Copyright: 2006-01-30
• Publisher: Birkhauser

Summary

This volume is an outgrowth of the workshop "Applications of Advanced Control Theory to Robotics and Automation," organized in honor of the 70th birthdays of Petar V. Kokotovic and Salvatore Nicosia. Both Petar and Turi have carried out distinguished work in the control community, and have long been recognized as mentors as well as experts and pioneers in the field of automatic control, covering many topics in control theory and several different applications. The variety of their research is reflected in this book, which includes contributions ranging from mathematics to laboratory experiments.Main topics covered include:* Observer design for time-delay systems, nonlinear systems, and identification for different classes of systems* Lyapunov tools for linear differential inclusions, control of constrained systems, and finite-time stability concepts* New studies of robot manipulators, parameter identification, and different control problems for mobile robots* Applications of modern control techniques to port-controlled Hamiltonian systems, different classes of vehicles, and web handling systems* Applications of the max-plus algebra to system-order reduction; optimal machine scheduling problems; and inventory control with cooperation between retailers* Control of linear and nonlinear networked control systems: deterministic and stochastic approachesThe scope of the work is very broad, and although each chapter is self-contained, the book has been organized into thematically related chapters, which in some cases suggest to the reader a convenient reading sequence. The great variety of topics covered and the almost tutorial writing style used by many of the authors will make this book suitable for experts, as well as young researchers who seek a more intuitive understanding of these relevant topics in the field.

Table of Contents

Foreword	vii
Preface	ix
List of Contributors	xv
Part I State Estimation and Identification
Circle-Criterion Observers and Their Feedback Applications: An Overview
Murat Arcak	3	(12)
Unknown Input Observers and Residual Generators for Linear Time Delay Systems
Giuseppe Conte, Anna Maria Perdon	15	(20)
Set Membership Identification: The Hinfinity Case
Mario Milanese, Michele Taragna	35	(24)
Algebraic Methods for Nonlinear Systems: Parameter Identification and State Estimation
John Chiasson, Kaiyu Wang, Mengwei Li, Marc Bodson, Leon M. Tolbert	59	(20)
Recent Techniques for the Identification of Piecewise Affine and Hybrid Systems
Aleksandar Lj. Juloski, Simone Paoletti, Jacob Roll	79	(24)
Part II Control and System Theory
Dual Matrix Inequalities in Stability and Performance Analysis of Linear Differential/Difference Inclusions
Rafal Goebel, Tingshu Hu, Andrew R. Teel	103	(20)
Oscillators as Systems and Synchrony as a Design Principle
Rodolphe Sepulchre	123	(20)
Nonlinear Anti-windup for Exponentially Unstable Linear Plants
Sergio Galeani, Andrew R. Teel, Luca Zaccarian	143	(20)
Constrained Pole Assignment Control
Mikuláš Huba	163	(22)
An Overview of Finite-Time Stability
Peter Dorato	185	(10)
Finite-Time Control of Linear Systems: A Survey
Francesco Amato, Marco Ariola, Marco Carbone, Carlo Cosentino	195	(22)
Part III Robotics
An Application of Iterative Identification and Control in the Robotics Field
Pedro Albertos, Angel Valera, Julio A. Romero, Alicia Esparza	217	(14)
Friction Identification and Model-Based Digital Control of a Direct-Drive Manipulator
Basilio Bona, Marina Indri, Nicola Smaldone	231	(22)
A Singular Perturbation Approach to Control of Flexible Arms in Compliant Motion
Bruno Siciliano, Luigi Villani	253	(18)
Fault Tolerant Tracking of a Robot Manipulator: An Internal Model Based Approach
Claudio Bonivento, Luca Gentili, Andrea Paoli	271	(18)
Set Membership Localization and Map Building for Mobile Robots
Nicola Ceccarelli, Mauro Di Marco, Andrea Garulli, Antonio Giannitrapani, Antonio Vicino	289	(20)
Visual Servoing with Central Catadioptric Camera
Gian Luca Mariottini, Eleonora Alunno, Jacopo Piazzi, Domenico Prattichizzo	309	(18)
Motion Control and Coordination in Mechanical and Robotic Systems
Iliya V. Miroshnik	327	(20)
Coordination of Robot Teams: A Decentralized Approach
Rafael Fierro, Peng Song	347	(20)
Part IV Control of Electromechanical Systems
Transient Stabilization of Multimachine Power Systems
Martha Galaz, Romeo Ortega, Alessandro Astolfi, Yuanzhang Sun, Tielong Shen	367	(20)
Robust Controllers for Large-Scale Interconnected Systems: Applications to Web Processing Machines
Prabhakar R. Pagilla, Nilesh B. Siraskar	387	(20)
Control Strategy Using Vision for the Stabilization of an Experimental PVTOL Aircraft Setup
Isabelle Fantoni, Amparo Palomino, Pedro Castillo, Rogelio Lozano, Claude Pégard	407	(14)
Neural Network Model Reference Adaptive Control of Marine Vehicles
Alexander Leonessa, Tannen VanZwieten, Yannick Morel	421	(22)
Part V Manufacturing Systems
Projection and Aggregation in Maxplus Algebra
Guy Cohen, Stéphane Gaubert, Jean-Pierre Quadrat	443	(12)
A Switched System Model for the Optimal Control of Two Symmetric Competing Queues with Finite Capacity
Mauro Boccadoro, Paolo Valigi	455	(20)
Cooperative Inventory Control
Dario Bauso, Raffaele Pesenti, Laura Giarré	475	(20)
Part VI Networked Control Systems
Communication Logic Design and Analysis for Networked Control Systems
Yonggang Xu, João P. Hespanha	495	(20)
Networked Decentralized Control of Multirate Sampled-Data Systems
Roberto Ciferri, Gianluca Ippoliti, Sauro Longhi	515	(20)
Finite-Time Stability for Nonlinear Networked Control Systems
Silvia Mastellone, Peter Dorato, Chaouki T. Abdallah	535	(20)
Index	555