عنوان

Distributed parameter modeling and boundary control of flexible manipulators /

9789811082993

9789811083006

9789811083013

9789811341151

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9811083010

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9789811082993

Distributed parameter modeling and boundary control of flexible manipulators /

[Book]

Jinkun Liu, Wei He.

Singapore :

Springer,

2018.

1 online resource

Includes bibliographical references.

Intro; Preface; Acknowledgements; Contents; About the Authors; 1 Introduction; 1.1 Control of Flexible Mechanical Systems; 1.2 Outline of the Book; References; 2 Mathematical Preliminaries; 2.1 The Hamilton Principle; 2.2 Functional and Variation; 2.2.1 Functional Variation Rules; 2.2.2 The Expansion of \int_{{t_{1} }}^{{t_{2} }} {\delta \left({\frac{1}{2}\dot{\theta }^{2} } \right)dt}; 2.2.3 Definition of Variation; 2.3 Discrete Simulation Method; 2.3.1 Discretization of Joint Angle \theta \left(t \right); 2.3.2 Several Discretization Methods; 2.3.3 Discretization of Boundary Conditions.

11 Boundary Control for Flexible Manipulator with Guaranteed Transient Performance11.1 System Description; 11.2 Preliminaries; 11.3 Performance Function; 11.4 Controller Design and Analysis; 11.5 Convergence Analysis; 11.6 Simulation Example; References; 12 Conclusions.

5.3 Boundary Controller Design5.4 Simulation Example; Appendix; References; 6 Boundary Control for Flexible Manipulator with LaSalle Analysis; 6.1 System Description; 6.2 Dissipative Analysis of the Closed System; 6.3 Unique Analysis of Solutions; 6.4 Convergence Analysis; 6.5 Simulation Example; References; 7 Boundary Control for Flexible Manipulator with State Constraints; 7.1 Introduction; 7.2 System Statement; 7.3 Controller Design and Analysis; 7.4 Convergence Analysis; 7.5 Simulation Example; References; 8 Boundary Control of Flexible Manipulator with Input Constraints; 8.1 Introduction.

8.2 System Description8.3 Controller Design; 8.4 Dissipative Analysis of the Closed System; 8.5 Unique Analysis of Solutions; 8.6 Convergence Analysis; 8.7 Simulation Example; References; 9 Robust Observer Design for Flexible Manipulator Based on PDE Model; 9.1 Introduction; 9.2 System Description; 9.3 Preliminaries; 9.4 Observer Design and Analysis; 9.5 Simulation Example; References; 10 Infinite Dimensional Disturbance Observer for Flexible Manipulator; 10.1 Introduction; 10.2 Observer Design; 10.3 Simulation Example; References.

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The book investigates fundamental issues in flexible manipulator systems, including distributed parameter modeling and boundary controller design. It presents theoretical explorations of several fundamental problems concerning the dynamics and control of these systems. By integrating fresh concepts and results to form a systematic approach to control, it also provides a basic theoretical framework. In turn, the book offers a comprehensive treatment of flexible manipulator systems, addressing topics ranging from related distributed parameter modeling and advanced boundary controller design for these systems with input constraint, to active control with output constraint. In brief, the book addresses dynamical analysis and control design for flexible manipulator systems. Though primarily intended for researchers and engineers in the control system and mechanical engineering community, it can also serve as supplemental reading on the modeling and control of flexible manipulator systems at the postgraduate level.

Springer Nature

com.springer.onix.9789811083006

9789811082993

Boundary value problems.

Control theory-- Mathematics.

Manipulators (Mechanism)-- Control.

Boundary value problems.

Manipulators (Mechanism)-- Control.

TECHNOLOGY & ENGINEERING-- Engineering (General)

TEC-- 009000

TJFM1

TJFM1

Liu, Jinkun,1965-

He, Wei

20200823222502.0

pn

[Book]

Y