Description
Taylor & Francis Adaptive And Fault-Tolerant Control Of Underactuated Nonlinear Systems by Jiangshuai Huang
The purpose of the book is to provide an exposition of recently developed adaptive and fault-tolerant control of underactuated nonlinear systems. Underactuated systems are abundant in real life, ranging from landing vehicles to surface ships and underwater vehicles to spacecrafts. For the tracking and stabilization control of underactuated mechanical systems, many methodologies have been proposed. However, a number of important issues deserve further investigation. In response to these issues, four important problems are solved in this book, including control of underactuated nonlinear systems with input saturation, output-feedback control in the presence of parametric uncertainties, fault-tolerant control of underactuated ships with or without actuator redundancy, and adaptive control of multiple underactauted nonlinear systems, including formation control and flocking control of multiple underactuated systems. 1 Introduction 1.1 Underactuated Mechanical Systems 1.2 Nonholonomic Constraints 1.3 Motivations and Control Objectives 2 Adaptive Control of Nonholonomic Mobile Robots with Input Saturation 2.1 Introduction 2.2 System Model and Problem Statement 2.3 Controller Design 2.4 Simulation Results 2.5 Conclusions 2.6 Appendix 3 Tracking Control of Underactuated Ships with Input Saturation 3.1 Introduction 3.2 Problem Formation 3.3 Controller Design 3.4 Simulations 3.5 Conclusion 3.6 Appendix 4 Stabilization Control of Underactuated Ships with Input Saturation 4.1 Introduction 4.2 Problem Formation 4.3 Controller Design 4.4 Simulations 4.5 Conclusion 5 Global Adaptive Stabilization Control of Underactuated Ships with Nussbaum Function 5.1 Introduction 5.2 A Novel Nassbaum Function and A Key Lemma 5.3 Problem Formation and Controller Design 5.4 Simulations 5.5 Conclusion 6 Adaptive Output Feedback Control of Nonholonomic Mobile Robots 6.1 Introduction 6.2 Robot Model and Problem Formulation 6.3 Adaptive State Feedback Control: An Intermediate Step 6.4 Adaptive Output Feedback Control 6.5 Simulation Results 6.6 Conclusions 7 Adaptive Output Feedback Control of Underactuated Ships7.1 Introduction 7.2 Problem Formulation 7.3 Adaptive State-feedback Control Design 7.4 Adaptive Output-feedback Control Design 7.5 Simulation Results 7.6 Conclusions 7.7 Appendix 8 Adaptive Fault-Tolerant Control of Underactuated Ships with Actuator Redundancy 8.1 Introduction 8.2 Problem Formulation 8.3 Design of Adaptive Controllers 8.4 Simulation Results 8.5 Conclusions9 Adaptive Fault-Tolerant Control of Underactuated Ships without Actuator Redundancy 9.1 Introduction 9.2 Problem Statement 9.3 Controller Design 9.4 Simulation Results 9.5 Conclusion 10 Adaptive Formation Control of Multiple Nonholonomic Mobile Robots 10.1 Introduction 10.2 Problem Formulation 10.2.1 Change of Coordinates 10.2.2 Formation Control Objective 10.3 Control Design 10.4 Simulation Results 10.5 Conclusion 11 Adaptive Flocking Control of Multiple Nonholonomic Mobile Robots 11.1 Introduction 11.2 Problem Formulation 11.3 Control Design 11.3.1 Potential Function 11.3.2 Flocking Control Design 11.4 Simulation Results 11.5 Conclusion