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Control of Underactuated Mechanical Systems
Stabilisation and Limit Cycle Generation
- 1st Edition - April 1, 2025
- Authors: Ahmed Chemori, Afef Hfaiedh
- Language: English
- Paperback ISBN:9 7 8 - 0 - 4 4 3 - 2 4 0 2 0 - 1
- eBook ISBN:9 7 8 - 0 - 4 4 3 - 2 4 0 2 1 - 8
Control of Underactuated Mechanical Systems: Stabilisation and Limit Cycle Generation explains the concepts of stabilization and stable limit cycle generation for the class of… Read more
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Request a sales quoteControl of Underactuated Mechanical Systems: Stabilisation and Limit Cycle Generation explains the concepts of stabilization and stable limit cycle generation for the class of underactuated mechanical systems. The book demonstrates the proposed concepts through real-time experiments on a real UMS subject and explores the challenges and constraints related to real-time control design. These concepts are illustrated in terms of the modeling and control of systems, such as the inertia wheel inverted pendulum (IWIP). This book serves as a valuable resource for PhD and Master students, engineers, researchers, and teachers.
This book is organized into three parts: Part I: General context and case study; Part II: Control solutions for the stabilization problem; Part III: Control solutions for stable limit cycle generation. The final part addresses the problem of stable limit cycle generation, where the proposed control solution is detailed, as well as its related issues of implementation and validation through different case studies. Its content guides them in the field of robotics and automatic control, with a simplified methodology to control dynamical underactuated mechanical systems.
- Solves both problems of stabilization and stable limit cycle generation, for underactuated mechanical systems in the presence of perturbations.
- Delves into the design, development, and validation of robust control solutions.
- Illustrates concepts through case studies.
- Validates control solutions through numerical simulations and/or real-time experiments.
Engineers in mechanics, mechatronics, control, and robotics, Researchers and teachers (from academia) in control engineering, mechanics, mechatronics, and robotics, PhD and Master Students, Graduate and undergraduate students from various engineering fields, including, but not limited to, robotics, control engineering, and mechatronics
Part I: General context and case study
I: Introduction and general context of underactuated mechanical systems
1- Introduction
2- Classification of mechanical systems
a) -Fully actuated
b) -Redundant
c) -Underactuated
3- Why research in underactuated mechanical systems?
a) First and second order holonomic constraints
b) Nonlinear dynamics and coupled inputs
c) Non-minimum phase system
d) Uncertainties and parametric variations
4- Stabilization problem
a) Concepts of Stability
b) Basic ideas/definitions
c) Illustrative examples
5- Stable Limit cycle generation problem
a) Definition
b) Stability of limit cycle
c) Illustrative examples of limit cycles:
-Pendulum
-Limit cycle walking
6-Underactuation in broad range of applications
a) Aerospace underactuated systems
b) Flexible systems
c) Locomotive Systems
d) Underactuation in sea vehicles
e) Underactuated mechanical system for education purpose.
7- Literature review about existing control strategies
a) Passivity based control
b) Backstepping control
c) Model predictive control
d) Sliding mode control
e) Intelligent controllers
8- Conclusion
9- References
2: The inertia wheel inverted pendulum case study
1-Introduction
2-System’s detailed description
3-Real-life applications
4-Mathematical modeling of the system
a) Dynamic model
b) Open-loop system
c) Port-Hamiltonian model
d) Linearized model
5- Experimental setup and implementation issues
a) Mechanical part
b) Electrical part
c) Software description
d) Description of the evaluation scenarios
6- Conclusion
7- References
Part II: Control solutions for the stabilisation problem
3: A revisited adaptive sliding mode control scheme
1- Introduction
2- The conventional first-order SMC approach
3- Adaptive sliding mode control for nonlinear systems
4- Proposed adaptive sliding mode control for class I of 2-Dof UMSs
5- Design of sliding mode controller
6- Closed-loop stability analysis
7- Numerical simulation results
8- Real-time experimental results
9- Conclusion
10- References
4: Nonlinear RISE feedback control scheme
1- Introduction
2- Class I of Underactuated mechanical systems
3- RISE controller for SISO systems
4- RISE control for class I
5- Closed-loop stability analysis
6- State estimation with robust Levant differentiator
7- Numerical simulation results
8- Real-time experimental results
9- Conclusion
10- References
5: Model reference adaptive IDA-PBC approach
1- Introduction
2- Standard IDA-PBC controller
3- Model reference adaptive IDA-PBC controller
4- Closed-loop stability analysis
5- Numerical simulation results
6- Real-time experimental results
7- Conclusion
8- References
Part III: Control solutions for stable limit cycle generation problem
6: Partial feedback linearization and optimization
1- Introduction
2- Motivation
a) Partial feedback linearization
b) Reference trajectory generation
c) Proposed control law
d) Illustrative examples
3- Stabilization of the internal dynamics
a) Optimization of reference trajectories
b) Estimation and external disturbance rejection
4- Numerical simulation results
5- Real-time experimental results
6- Conclusion
7- References
7: Nonlinear Model Predictive control
1. Introduction
2. Kangaroo underactuated hopping robot
a) Jump cycle description
b) Kangaroo hopping robot design
c) Robot’s dynamic modelling
3. Control problem formulation
4. Related works
5. Background on Model Predictive Control
6. Proposed running controllers
a) Raibert’s controller
b) NMPC running controller
7. Numerical simulations and results
a) Simulation environment
b) Simulation comparative study
8. Conclusion
9- References
8: Dual Model Free control
1. Introduction
2. background on model-free control
3- Proposed dual model-free control solution
Application 1: The cart-pole inverted pendulum
Application 2: The pendubot
Application 3: The inertia wheel inverted pendulum
5. Conclusion
6. References
I: Introduction and general context of underactuated mechanical systems
1- Introduction
2- Classification of mechanical systems
a) -Fully actuated
b) -Redundant
c) -Underactuated
3- Why research in underactuated mechanical systems?
a) First and second order holonomic constraints
b) Nonlinear dynamics and coupled inputs
c) Non-minimum phase system
d) Uncertainties and parametric variations
4- Stabilization problem
a) Concepts of Stability
b) Basic ideas/definitions
c) Illustrative examples
5- Stable Limit cycle generation problem
a) Definition
b) Stability of limit cycle
c) Illustrative examples of limit cycles:
-Pendulum
-Limit cycle walking
6-Underactuation in broad range of applications
a) Aerospace underactuated systems
b) Flexible systems
c) Locomotive Systems
d) Underactuation in sea vehicles
e) Underactuated mechanical system for education purpose.
7- Literature review about existing control strategies
a) Passivity based control
b) Backstepping control
c) Model predictive control
d) Sliding mode control
e) Intelligent controllers
8- Conclusion
9- References
2: The inertia wheel inverted pendulum case study
1-Introduction
2-System’s detailed description
3-Real-life applications
4-Mathematical modeling of the system
a) Dynamic model
b) Open-loop system
c) Port-Hamiltonian model
d) Linearized model
5- Experimental setup and implementation issues
a) Mechanical part
b) Electrical part
c) Software description
d) Description of the evaluation scenarios
6- Conclusion
7- References
Part II: Control solutions for the stabilisation problem
3: A revisited adaptive sliding mode control scheme
1- Introduction
2- The conventional first-order SMC approach
3- Adaptive sliding mode control for nonlinear systems
4- Proposed adaptive sliding mode control for class I of 2-Dof UMSs
5- Design of sliding mode controller
6- Closed-loop stability analysis
7- Numerical simulation results
8- Real-time experimental results
9- Conclusion
10- References
4: Nonlinear RISE feedback control scheme
1- Introduction
2- Class I of Underactuated mechanical systems
3- RISE controller for SISO systems
4- RISE control for class I
5- Closed-loop stability analysis
6- State estimation with robust Levant differentiator
7- Numerical simulation results
8- Real-time experimental results
9- Conclusion
10- References
5: Model reference adaptive IDA-PBC approach
1- Introduction
2- Standard IDA-PBC controller
3- Model reference adaptive IDA-PBC controller
4- Closed-loop stability analysis
5- Numerical simulation results
6- Real-time experimental results
7- Conclusion
8- References
Part III: Control solutions for stable limit cycle generation problem
6: Partial feedback linearization and optimization
1- Introduction
2- Motivation
a) Partial feedback linearization
b) Reference trajectory generation
c) Proposed control law
d) Illustrative examples
3- Stabilization of the internal dynamics
a) Optimization of reference trajectories
b) Estimation and external disturbance rejection
4- Numerical simulation results
5- Real-time experimental results
6- Conclusion
7- References
7: Nonlinear Model Predictive control
1. Introduction
2. Kangaroo underactuated hopping robot
a) Jump cycle description
b) Kangaroo hopping robot design
c) Robot’s dynamic modelling
3. Control problem formulation
4. Related works
5. Background on Model Predictive Control
6. Proposed running controllers
a) Raibert’s controller
b) NMPC running controller
7. Numerical simulations and results
a) Simulation environment
b) Simulation comparative study
8. Conclusion
9- References
8: Dual Model Free control
1. Introduction
2. background on model-free control
3- Proposed dual model-free control solution
- Basic principle
- Periodic reference trajectories generation
- Control design
Application 1: The cart-pole inverted pendulum
Application 2: The pendubot
Application 3: The inertia wheel inverted pendulum
5. Conclusion
6. References
- No. of pages: 230
- Language: English
- Edition: 1
- Published: April 1, 2025
- Imprint: Academic Press
- Paperback ISBN: 9780443240201
- eBook ISBN: 9780443240218
AC
Ahmed Chemori
Ahmed Chemori CNRS, LIRMM received the M.Sc. and Ph.D. degrees both in automatic control from the Grenoble Institute of Technology, Grenoble, France, in 2001 and 2005, respectively. He has been a Postdoctoral Fellow with the Automatic Control Laboratory, Grenoble, France, in 2006. He is currently a tenured Research Scientist in automatic control and robotics with the Montpellier Laboratory of Informatics, Robotics and Microelectronics (LIRMM-CNRS). His research interests include nonlinear, robust , adaptive and predictive control and their real-time applications in complex robotic.
Affiliations and expertise
LIRMM, University of Montpellier, CNRS, Montpellier, France.AH
Afef Hfaiedh
Afef Hfaiedh received the master’s degree in Automatic, Robotics and Signal Processing in 2015 from the National Engineering School of Carthage (ENICarthage). She is currently a doctor in Electrical Engineering, working as a part time professor at the University of Carthage, teaching
classes in mechatronics engineering. Her research interests include nonlinear, adaptive and sliding-mode control and their applications in robotic and nonlinear underactuated mechanical systems.
Affiliations and expertise
University of Tunis El Manar, National Engineering School of Tunis, LR16ES07, RISC Lab, Tunis, Tunisia.