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Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes: A Parametrized Approach for Fast Systems: Lecture Notes in Control and Information Sciences, cartea 339

Autor Mazen Alamir
en Limba Engleză Paperback – 26 iul 2006
While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of fast systems. Dr. Alamir presents a successful approach to this problem based on a co-operation between structural considerations and on-line optimization. The balance between structural and optimization aspects of the method is dependent on the system being considered so the many examples aim to transmit a mode of thought rather than a ready-to-use recipe; they include:
- double inverted pendulum;
- non-holonomic systems in chained form;
- snake board;
- missile in intercept mission;
- polymerization reactor;
- walking robot;
- under-actuated satellite in failure mode.
In addition, the basic stability results under receding horizon control schemes are revisited using a sampled-time, low-dimensional control parameterization that is mandatory for fast computation and some novel formulations are proposed which offer promising directions for future research.
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Specificații

ISBN-13: 9781846284700
ISBN-10: 1846284708
Pagini: 332
Ilustrații: XVII, 308 p. 102 illus.
Dimensiuni: 155 x 235 x 26 mm
Greutate: 0.92 kg
Ediția:2006
Editura: SPRINGER LONDON
Colecția Springer
Seria Lecture Notes in Control and Information Sciences

Locul publicării:London, United Kingdom

Public țintă

Research

Cuprins

Generic Framework.- Definitions and Notation.- The Receding-Horizon State Feedback.- Stabilizing Schemes with Final Equality Constraint on the State.- Stabilizing Formulations with Free Prediction Horizon and No Final Constraint on the State.- General Stabilizing Formulations for Trivial Parametrization.- Limit Cycles Stabilizing Receding-Horizon Formulation for a Class of Hybrid Nonlinear Systems.- Generic Design of Dynamic State Feedback Using Receding-Horizon Schemes.- Application Examples.- Swing-Up Mechanical Systems.- Minimum-Time Constrained Stabilization of Nonholonomic Systems.- Stabilization of a Rigid Satellite in Failure Mode.- Receding-Horizon Solution to the Minimum-Interception-Time Problem.- Constrained Stabilization of a PVTOL Aircraft.- Limit Cycle Stabilizing Receding-Horizon Controller for the Planar Biped Rabbit.

Notă biografică

Mazen Alamir has published many times in peer-reviewed journals (including several times in Automatica and Control Engineering Practice). He holds two patents concerning the remote localisation and estimation of speed for a moving vehicle. Doctor Alamir is a member of the IFAC technical committee on nonlinear control and, as such, has a good profile among his fellow control engineers, he is also the co-ordinator of the French CNRS workgroup on nonlinear predictive control and is a member of the French National Universities Council.

Caracteristici

Presents up-to-date research showing how generic predictive control schemes can be extended from slow process-based systems to a variety of fast systems Deals with nonlinear as well as linear cases Large number of "case-by-case" examples builds up into a coherent method of thinking that will allow the reader to apply the appropriate blend of methods any system being studied