Control of Underactuated Mechanical Systems
Stabilisation and Limit Cycle Generation
- 1st Edition - March 21, 2025
- Imprint: Academic Press
- Authors: Afef Hfaiedh, Ahmed Chemori
- 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: Stabilization and Limit Cycle Generationclearly explains stabilization and limit cycle generation in underactuated mechanical sy… Read more
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clearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS),addressing control design challenges and demonstrating concepts through real-time experiments.
The book begins with advancements in UMS, introducing key concepts such as stabilization and limit
cycle generation, supported by literature examples. It then focuses on the inertia wheel inverted
pendulum, presenting a detailed discussion. The second part tackles stabilization, offering various
control solutions validated through numerical simulations and real-time experiments. The final
part addresses stable limit cycle generation, detailing three proposed control solutions and their
validation through different case studies.
This book is a valuable resource for PhD and Master students, engineers, researchers, and educators.
It provides guidance in robotics and automatic control, utilizing a simplified methodology for
controlling underactuated mechanical systems.
- • Addresses stabilization and stable limit cycle generation in underactuated mechanical systems
amid perturbations
• Explores the design, development, and validation of robust control solutions
• Illustrates concepts through case studies
• Validates control solutions with numerical simulations and 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
- Title of Book
- Cover image
- Title page
- Table of Contents
- Copyright
- Dedication
- List of figures
- About the series editor
- About the authors
- Preface
- Part I: General context and case study
- Chapter 1: Introduction and general context of underactuated mechanical systems
- 1.1. Introduction
- 1.2. Classification of mechanical systems
- 1.2.1. Fully actuated
- 1.2.2. Redundant
- 1.2.3. Underactuated
- 1.3. Why research underactuated mechanical systems?
- 1.3.1. First- and second-order holonomic constraints
- 1.3.2. Nonlinear dynamics and coupled inputs
- 1.3.3. Non-minimum-phase system
- 1.3.4. Uncertainties and parametric variations
- 1.4. Stabilization problem
- 1.4.1. Concepts of stabilization
- 1.4.2. Basic ideas
- 1.4.3. Illustrative example
- 1.5. Stable limit cycle generation problem
- 1.5.1. Definition
- 1.5.2. Stability of a limit cycle
- 1.5.3. Illustrative example of limit cycles
- 1.6. Underactuation in a broad range of applications
- 1.6.1. Aerospace underactuated systems
- 1.6.2. Flexible systems
- 1.6.3. Locomotion systems
- 1.6.4. Underactuation in marine vehicles
- 1.6.5. Underactuated mechanical system for education purposes
- 1.7. Literature review about existing control strategies
- 1.7.1. Passivity-based control
- 1.7.2. Backstepping control
- 1.7.3. Model predictive control
- 1.7.4. Sliding mode control
- 1.7.5. Intelligent controllers
- 1.8. Conclusion
- Chapter 2: The inertia wheel inverted pendulum case study
- 2.1. Introduction
- 2.2. System's detailed description
- 2.3. Real-life applications
- 2.4. Mathematical modeling of the system
- 2.4.1. Dynamic model
- 2.4.2. Open-loop system
- 2.4.3. Port-Hamiltonian model
- 2.4.4. Linearized model
- 2.5. Experimental setup and implementation issues
- 2.5.1. Mechanical part
- 2.5.2. Electrical part
- 2.5.3. Software description
- 2.5.4. Description of the evaluation scenarios
- 2.6. Conclusion
- Part II: Control solutions for the stabilization problem
- Chapter 3: A revisited adaptive sliding mode control scheme
- 3.1. Introduction
- 3.2. The conventional first-order SMC approach
- 3.3. Adaptive sliding mode control for nonlinear systems
- 3.4. Proposed adaptive sliding mode control for class-I 2-Dof UMSs
- 3.5. Design of sliding mode controller
- 3.6. Closed-loop stability analysis
- 3.7. Numerical simulation results
- 3.7.1. Scenario 1: Rejection of external disturbances
- 3.7.2. Scenario 2: Robustness towards parametric uncertainties
- 3.8. Real-time experimental results
- 3.8.1. Scenario 1: Nominal case
- 3.8.2. Scenario 2: External disturbances rejection
- 3.9. Conclusion
- Chapter 4: Nonlinear RISE feedback control scheme
- 4.1. Introduction
- 4.2. Class I of underactuated mechanical systems
- 4.2.1. Noncollocated partial feedback linearization
- 4.2.2. Collocated partial feedback linearization
- 4.2.3. Normal forms of underactuated mechanical systems
- 4.3. RISE controller for SISO systems
- 4.4. RISE control for class I
- 4.5. Closed-loop stability analysis
- 4.6. State estimation with robust Levant differentiator
- 4.7. Numerical simulation results
- 4.7.1. Scenario 1: Robustness towards parametric uncertainties
- 4.7.2. Scenario 2: External disturbances rejection
- 4.8. Real-time experimental results
- 4.8.1. Scenario 1: Nominal case
- 4.8.2. Scenario 2: Disturbances rejection
- 4.9. Conclusion
- Chapter 5: Model reference adaptive IDA-PBC approach
- 5.1. Introduction
- 5.2. Standard IDA-PBC controller
- 5.2.1. Control law
- 5.2.2. PI-IDA-PBC controller
- 5.3. Model reference adaptive IDA-PBC controller
- 5.4. Closed-loop stability analysis
- 5.5. Numerical simulation results
- 5.5.1. Scenario 1: Punctual disturbance rejection
- 5.5.2. Scenario 2: Persistent disturbance rejection
- 5.6. Real-time experimental results
- 5.6.1. Scenario 1: Nominal case
- 5.6.2. Scenario 2: Persistent disturbances rejection
- 5.7. Conclusion
- Part III: Control solutions for stable limit cycle generation problem
- Chapter 6: Partial feedback linearization and optimization
- 6.1. Introduction
- 6.2. Motivation and proposed control scheme
- 6.2.1. Partial feedback linearization principle
- 6.2.2. Reference trajectory generation
- 6.2.3. Proposed control law
- 6.2.4. An illustrative example
- 6.3. Stabilization of the internal dynamics
- 6.3.1. Optimization of reference trajectories
- 6.3.2. Estimation and external disturbance rejection
- 6.4. Application: inertia wheel inverted pendulum
- 6.4.1. Reference trajectories generation
- 6.4.2. Control law
- 6.4.3. Optimization of reference trajectories
- 6.4.4. Estimation and rejection of persistent disturbances
- 6.5. Numerical simulation results
- 6.5.1. Scenario 1: Nominal case
- 6.5.2. Scenario 2: Point disturbance rejection
- 6.5.3. Scenario 3: Persistent disturbances rejection
- 6.6. Real-time experimental results
- 6.6.1. Scenario 1: Nominal case without external disturbances
- 6.6.2. Scenario 2: Point external disturbance rejection
- 6.6.3. Scenario 3: Persistent external disturbances rejection
- 6.7. Conclusion
- Chapter 7: Nonlinear model predictive control
- 7.1. Introduction
- 7.2. Kangaroo underactuated hopping robot
- 7.2.1. Jump cycle description
- 7.2.2. Kangaroo hopping robot design
- 7.2.3. Robot's dynamic modeling
- 7.3. Control problem and related works
- 7.4. Background on model predictive control
- 7.4.1. Key elements of NMPC
- 7.4.2. Potential applications of NMPC
- 7.4.3. Main challenges
- 7.5. Proposed running controllers
- 7.5.1. Raibert's controller
- 7.5.2. Proposed NMPC running controller
- 7.6. Numerical simulations and results
- 7.6.1. Simulation environment
- 7.6.2. Simulation comparative study
- 7.7. Conclusion
- Chapter 8: Dual model-free control
- 8.1. Introduction
- 8.2. Background on model-free control
- 8.2.1. Nonlinear system to be controlled
- 8.2.2. Control law
- 8.3. Proposed dual model-free control solution
- 8.3.1. Basic principle
- 8.3.2. Control design
- 8.4. Application to underactuated mechanical systems
- 8.4.1. Application 1: The cart-pole inverted pendulum
- 8.4.2. Application 2: The pendubot
- 8.4.3. Application 3: The inertia wheel inverted pendulum
- Scenario 1: Nominal case
- Scenario 2: External punctual disturbance rejection
- Scenario 1: Nominal case
- Scenario 2: Punctual external disturbance rejection
- 8.5. Conclusion
- Index
- Edition: 1
- Published: March 21, 2025
- Imprint: Academic Press
- No. of pages: 238
- Language: English
- Paperback ISBN: 9780443240201
- eBook ISBN: 9780443240218
AH
Afef Hfaiedh
Afef Hfaiedh received her Master’s degree in Automatic Control, Robotics, and Signal Processing in 2015 and her Ph.D. in Automatic Control in 2021. She is a postdoctoral researcher at RISC-LAB and a part-time professor at the University of Tunis El Manar, specializing in nonlinear control applications in robotics and underactuated mechanical systems.
Affiliations and expertise
University of Tunis El Manar, National Engineering School of Tunis, LR16ES07, RISC Lab, Tunis, Tunisia.AC
Ahmed Chemori
Ahmed Chemori earned his M.Sc. and Ph.D. in Automatic Control from the Grenoble Institute of
Technology in 2001 and 2005, respectively. He has worked as a research and teaching assistant and is currently a senior research scientist at LIRMM, University of Montpellier, focusing on nonlinear control and its applications in robotics.
Affiliations and expertise
LIRMM, University of Montpellier, CNRS, Montpellier, France.Read Control of Underactuated Mechanical Systems on ScienceDirect