Nnlyapunov-based control of mechanical systems pdf files

For mechanical systems energy of a free mechanical system with friction always decreases unless the system is at rest, equilibrium. Path following of a class of underactuated mechanical systems via. Lyapunovbased control of mechanical systems applied. A lyapunovbased approach for the control of biomimetic robotic systems with periodic forcing inputs domenico campolo. Arts lab, scuola superiore santanna, pisa, italy department of information engineering, univ. It is strongly recommended for purchase both by libraries and individual researchers. A crane is an important mechanical system in in dustry for carrying a heavy object to a desired posi tion. In fact, if a mechanical system doesnt make work easier to do then there is little point in having it. Path following of a class of underactuated mechanical systems via immersion and invariancebased orbital stabilization. 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. Partial feedback linearization of underactuated mechanical systems. Electrical engineering and systems science systems and control. Article information, pdf download for modelbased control of a.

Lyapunovbased control of mechanical systems request pdf. Lyapunovbased control of saturated and timedelayed nonlinear systems by nicholas fischer december 2012 chair. On the other hand, recent technological advances have produced many realworld engineering applications that require the automatic con trol of mechanical systems. This paper addresses dynamics modelling and control of mechanical systems.

Lyapunovbased robust and adaptive control of nonlinear systems using a novel feedback structure by parag patre august 2009 chair. Modelbased control of a thirdorder nonholonomic system elzbieta. Lyapunov theory based robust control of complicated nonlinear. Mechanical engineering time delays and actuator saturation are two phenomena which affect the performance of dynamic systems under closedloop control. Stabilisation of underactuated mechanical systems via pid passivitybased control. The design of nonlinear controllers for mechanical systems has been an ex. 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. Lyapunovbased control of mechanical systems marcio s.

Request pdf lyapunovbased control of mechanical systems friction is a natural phenomenon that affects almost all motion. It has been the subject of extensive studies for centuries, with the. Design of lyapunov based nonlinear position control of. Global stabilisation of underactuated mechanical systems via pid. Mechanical systems levers and forces engineering science level 4 mintlaw academy page 4 mechanical systems the main purpose of most mechanical systems is to make work easier to do. Mechanical engineering the focus of this research is an examination of the interplay between di. Integrator backstepping control method allows also finding a solution for optimal control problems 11, estimating parameters and adaptive control design, as well as, development of robust nonlinear controllers.