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《Dynamic Surface Control of Uncertain Nonlinear Systems》 评分:

伯克利大神J. Karl Hedrick的著作,动态面控制(DSC)领域非常经典的教材。
Series editors A. Isidori·JH. van Schuppen·ED. Sontag·M. Thoma·M. Krstic Published titles include Stability and Stabilization of Infinite Dimensional Switched linear systems Systems with Applications Zhendong Sun and Shuzhi s Ge Zheng-Hua luo Bao-Zhu Guo and Omer morgul Subspace Methods for System ldentification Nonsmooth Mechanics(second edition Tohru katayama Bernard brogl Nonlinear Control Systems Il loan d. landau and gianluca zito Alberto isidori Multivariable Computer-controlled Systems L2-Gain and Passivity Techniques in Nonlinear Control Efim N Rosenwasser and Bernhard P lamp Arjan van der Schaf Dissipative Systems analysis and Control Control of linear Systems with Regulation and Input (Second editi Constraints Bernard brogliato, Rogelio lozano, Bernhard Maschke Ali Saberi, Anton A. Stoorvogel and Peddapullaiah and olav egeland Sannuti Algebraic Methods for Nonlinear Control Systems Robust and Hoo control Giuseppe Conte, Claude H moog and Anna M. Perdon Ben m. chen Polynomial and Rational Matrices Computer Controlled Systems Tadeusz Kaczorek Efim N. Rosenwasser and Bernhard P Lampe Simulation-based Algorithms for Markov Decision Control of Complex and Uncertain Systems Stanislav V Emelyanov and Sergey K. Korov Hyeong Soo Chang, Michael C Fu, Jiaqiao Hu and Robust Control Design Using Hoo Method Steven l. marcus lan R. Petersen, Valery A. Ugrinovski and Iterative Learning Control Andrey V Savkin Hyo-Sung Ahn, Kevin L. Moore and Yang Quan Chen Model reduction for Control System Design Distributed Consensus in Multi-vehicle Cooperative Goro obinata and brian d.o. anderson Control Control Theory for Linear Systems Wei ren and randal w. beard Harry L. Trentelman, Anton Stoorvogel and Malo Hautus Control of Singular Systems with Random abrupt Functional Adaptive Control Simon g. fabri and visakan Kadirkamanathan El-Kebir doukas Positive /d and 2D Systems Nonlinear and Adaptive Control with Applications Tadeusz Kaczorek Alessandro astolfi. Dimitrios Karagiannis and romeo Identification and Control Using Volterra models Francis J. Doyle Ill, Ronald K. Pearson and Babatunde Stabilization, Optimal and Robust Control Aziz belmiloudi unmake Non-linear Control for Underactuated Mechanical Control of Nonlinear Dynamical Systems Systems Felix L. Chernousko, Igor M. Ananievski and Sergey A. Reshmin Isabelle fantoni and rogelio lozano Robust Control (Second edition) Periodic systems Jurgen Ackermann Sergio bittanti and Patrizio colaneri Flow Control by feedbacl Discontinuous Systems Ole morten aamo and miroslav krstic Yury V orlov Learning and Generalization(Second edition) Constructions of Strict Lyapunov Functions Mathukumalli vidyasagar Michael malisoff and frederic mazen Constrained control and estimation Controlling Chaos Graham C. Goodwin. Maria m. seron and Huaguang Zhang, Derong Liu and Zhiliang Wan Jose a. de dona Stabilization of Navier-Stokes Flows Randomized Algorithms for Analysis and Control Ⅴ morel barbu of Uncertain Systems Distributed Control of Multi-agent Network Roberto Tempo, Giuseppe Calafiore and Fabrizio Wei Ren and Yongcan cao Dabbene Bongsob Song.J. Karl Hedrick Dynamic Surface Control of uncertain Nonlinear systems An LMI Approach Springer B g J. Karl hedrick Department of Mechanical Engineering Department of Mechanical Engineering Ajou University University of California at Berkeley San 5, Wonchon-dong, Yeongtong-gu 5104 Etcheverry hall 443-749 Suwon Mailstop 1740 Korea, Republic of (South Korea) 94720 Berkeley bong@ ajouac kr USA khedrick@me. berkeley. edu ISSN0178-5354 ISBN9780-85729631-3 e-ISBN978-0-85729-632-0 DOI10.10071978-0-85729632-0 Springer London Dordrecht Heidelberg New York British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2011929130 o Springer-Verlag London limited 2011 Apart from any fair dealing for the purposes of research or private study, or criticism or review, as per mitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced stored or transmitted, in any form or by any means, with the prior permission in writing of the publish ers, or in the case of reprographic reproduction in accordance with the terms of licenses issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers The use of registered names, trademarks, etc, in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made Cover design: VTeX UAB, Lithuania Printed on acid-free paper SpringerispartofSpringerScience+businessMedia(www.springer.com) Preface This monograph provides a detailed practical and theoretical introduction to non linear control system design for the use of engineers and scientists. It will present systematic design methods, such as those that have been developed for linear sys tems, to address nonlinear problems. Linear control theory has a limited ability to tackle highly nonlinear systems. Our purpose here is to extend the recent develop ments in convex optimization of linear systems to nonlinear systems. A new non linear control algorithm known as"dynamic surface control (DSC),"using convex optimization is presented. It provides an effective design methodology for design ing robust controllers for uncertain nonlinear systems. Sample applications will be provided to demonstrate how dsc can be effectively used to solve design problems in both the automotive and robotic fields This book is primarily intended for graduate students in nonlinear control theory, but can also serve as a source of applications for researchers in control design in the area of mechatronic systems such as automotive and robotic control a wide variety of problems ranging from the design of dsc to extensions to output feedback, input saturation, multi-input multi-output, and fault tolerant control are considered. Th results are shown to apply to a class of nonlinear and interconnected systems, in particular to automated vehicle control and biped robot control This book is divided in two parts. The first part addresses theoretical results for nonlinear control system design. In Chap 2 a new method of analyzing the sta- bility of a class of nonlinear systems by using the dsc design approach is pre sented. Based on quadratic stability theory, feasibility of the fixed controller gains for quadratic stabilization and tracking can be tested by solving a convex optimiza tion problem. This approach is extended to problems with consideration of the fol lowing constraints, as we advance from chapter to chapter a class of uncertainties: Chap 3 output feedback: Chap 4 input saturation: Chap 5 multi-input multi-output: Chap. 6 Presa The second part of the book introduces applications of theoretical results to vehi cle and robot control. The relation between chapters and the results of the first part of the book is summarized as follows: Fault classification for vehicle control in Chap 7: extension of the results in Chaps. 2 and 3 to switched nonlinear systems Fault tolerant control for an automated vehicle in Chap 8: extension of the results in Chap. 4 to switched nonlinear systems Biped robot control in Chap. 9: application of the results in Chaps. 2 and 6 to interconnected mechanical systems o. The authors are particularly indebted to former graduate students in the vehicle ynamics and Control Lab at UC Berkeley: J. Green and M. Won contributed to the idea of multiple sliding surface control; S Choi and D. McMahon conducted engine and vehicle control using multiple sliding surface control; D. Swaroop and C Gerdes triggered the use of dynamic surface control for uncertain nonlinear sys tems and applied the idea to vehicle control; P. Yip extended the result to adaptive dynamic surface control; S. Raghavan and R Rajamani provided a systematic pro- cedure for nonlinear observer design. There are probably more names we should acknowledge for their contributions in a long line of simulations and applications We would like to thank each one of them We also want to acknowledge the collaboration with California path at UC Berkeley. especially more than 15 researchers including the first author developed the automated transit bus and demonstrated its feasibility in 2003, and some of re sults and pictures are included in this book. The implementation of the longitudi- nal control described in this book would not have succeeded without a. howell S Dickey, and many other researchers at the california path research program The first author wishes to thank his former students at the automatic Control Lab at Ajou University; J. Choi worked on simulations of the biped robot control He also wants to thank his family for their endless support: his wife moonjeung and sons Ryan and Kyle. Furthermore, he is grateful to Ajou University and UC Berkeley for providing an environment to write this monograph at Berkeley The second author would like to thank his wife Carlyle and daughters ashley, Tristan and ryan for their interest and support over the years. He would also like to thank his many many students, who have taught him so much Suwon. Korea Bongso son Berkeley, California, USA J. Karl hedrick Contents Part I Theory 1 ntroduction 1.1 a Brief history of dynamic surface Control 1.2 Sliding Mode Control 1.3 Integrator Backstepping 1. 3.1 Mismatched Uncertainties 1.3.2 Design Methodology 3345557 1. 4 Multiple sliding Surface Control 1.5 Dynamic Surface Control 11 1.5.1 Motivating Example 1.5.2 An LMI Approach 13 1.6 Book Organization 14 1.7 Origin of the Book 16 2 Dynamic Surface Control 2.1 Motivation 19 2.2 Problem statement 21 2.3 Design Procedure 2.4 Augmented Error dynamics 25 2.5 Quadratic Stabilization .30 2.5.1 Nominal Error dynamics 31 2. 5.2 Norm-Bounded error dynamics 35 2.5.3 Diagonal norm-Bounded error dynamics 41 2.6 Ultimate and Quadratic Boundedness 44 3 Robustness to Uncertain Nonlinear Systems 3. 1 Uncertain Lipschitz Systems .57 3.1.1 Problem statement 57 3.1.2 Quadratic Stability and Trackin 58 3.2 DSC with Nonlinear Dampin 66 3.2.1 Problem Statement Contents 3.2.2 Stabilization and Quadratic boundedness 3.3 Input-Output Stability 75 4 Observer-Based Dynamic Surface Control 79 4.1 Nonlinear Observer Design 80 4.1.1 Problem statement 80 4.1. 2 Quadratic Stability of Observer 4.1.3 Design of Observer Gain matrix 85 4.2 A Separation Principle 4.2.1 Preliminary Design of Odsc 4.2.2 Augmented Error dynamics 4.2.3 Separation Principle of error dynamics 96 4.3 Quadratic Stabilization and Trackin .97 4.4 Consideration of Uncertainty 100 4.4.1 Redesign of Nonlinear observer .102 4.4.2 Design Procedure of Odsc 103 5 Constrained stabilization 5.1 Problem Statement and Preliminaries 107 5.2 Local Regulation and regions of attraction .110 5.3 Robust Constrained stabilization 117 6 Multi-Input multi-Output Mechanical Systems 123 6. 1 Fully-Actuated Mechanical System 124 6.2 Synthesis of Dynamic Surface Control ...,,125 6.2. 1 Error dynamics ...125 6.2.2 Synthesis for Stabilization ...127 6.2.3 Synthesis for Quadratic Tracking 136 6.2.4 Avoiding Cancelations 6. 3 Extension to Rigid body dynamics 142 6.4 Decentralized dynamic Surface Control 144 6.4.1 Preliminary Design of DDSC 144 6.4.2 Augmented Error dynamics 145 6. 4. 3 Decentralized Stabilization 147 PartIi Applications 7 Automated Vehicle control 155 7.1 Application to Longitudinal Vehicle Control 158 7.1.1 Engine and Brake Control via DsC 158 7.1.2 Switched Closed Loop Error Dynamics 160 7.1.3 Simultaneous Quadratic Boundedness 162 7.1. 4 Input-Output Stability 7. 2 Passive Fault Tolerant Control 169 7.2.1 Problem statement 170 7.2.2 Error Dynamics for a Faulty nonlinear System 7. 2. 3 Fault Classification 175 Contents 8 Fault Tolerant Control for Ahs .183 8.1 Controller Reconfiguration 185 8.1.1 Observer -Based DSc 186 8.1.2 Trajectory Reconfiguration 187 8.2 Longitudinal Control for an Automated Transit Bus 189 8.2.1 Longitudinal Control via dsc .189 8.2.2 Quadratic Tracking and validation .193 8.3 Active Fault Tolerant Control 198 8.3. 1 Error Dynamics for Faulty system 199 8.3.2 Sensor Fault Handling 201 8.3.3 Trajectory Reconfiguration for Longitudinal Control 9 Biped robot control 217 9.1 Hybrid Biped model 218 9.2 Trajectory Generation 93 Motion Control for ssP and DS·· 221 24 9.3.1 Application of Dynamic Surface Control 224 9.3.2 Augmented Error dynamics 225 9.3.3 Piecewise Quadratic Boundedness 227 9.4 Simulation Results 8 Appendix Proofs A1 Proof of lemma 2.1 233 A 2 Proof of lemma 3. 1 235 A 3 Proof of Lemma 3.2 238 A 4 Proof of theorem 5.3 241 References 245 Index 251

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