PDE Modeling and Boundary Control for Flexible Mechanical System (eBook)

Zhijie Liu, Jinkun Liu (Autoren)

eBook Download: PDF

2020 | 1st ed. 2020
XV, 174 Seiten
Springer Singapore (Verlag)
978-981-15-2596-4 (ISBN)

Infos

This book provides a comprehensive review of fundamental issues in the dynamical modeling and vibration control design for several flexible mechanical systems, such as flexible satellites, flexible aerial refueling hoses, and flexible three-dimensional manipulators. Offering an authoritative reference guide to the dynamics and control of flexible mechanical systems, it equips readers to solve a host of problems concerning these systems. It provides not only a complete overview of flexible systems, but also a better understanding of the technical levels involved.

 

The book is divided into ten chapters: Chapters 1 and 2 lay the foundations, while the remaining chapters explore several independent yet related topics in detail. The book's final chapter presents conclusions and recommendations for future research.

Given its scope, the book is intended for researchers, graduate students, and engineers whose work involves control systems, flexible mechanical systems, and related areas.

Dr, Zhijie Liu received his B.S. degree at the School of Mechanical Electrical & Information Engineering, China University of Mining and Technology, Beijing in 2014, and his PhD at the School of Automation Science & Electrical Engineering, Beihang University, China in 2019. In 2017, he was a Research Assistant at the Department of Electrical Engineering, University of Notre Dame, for twelve months. His research interests include adaptive control, distributed parameter systems and intelligent control systems. He has published more than 10 research papers.

Professor Jinkun Liu received his BS, MS and PhD degrees from Northeastern University, Shenyang, China, in 1989, 1994 and 1997, respectively. He was a Postdoctoral Fellow at Zhejiang University from 1997 to 1999, and is currently a Full Professor at Beijing University of Aeronautics and Astronautics. His research interests include intelligent control and sliding mode control, PDE modeling and boundary control, with applications in areas related to motion control, such as flight control and robotic control, etc. especially for under-actuated systems. He has published over 100 research papers and eight books.

Inhalt

Preface 6
Acknowledgements 9
Contents 10
About the Authors 13
1 Introduction 14
1.1 Background and Motivation 14
1.2 Survey on Modeling and Control of Flexible Mechanical System 17
1.2.1 Main Research Methods of Flexible Mechanical Systems Based on PDEs 17
1.2.2 Control Design of Flexible Mechanical Systems 18
1.2.3 Typical Flexible Mechanical Systems 20
1.2.4 Engineering Design of Flexible Mechanical Systems 22
1.3 Outline of This Book 23
References 25
2 Mathematical Preliminaries 30
2.1 Basic PDE Models 30
2.2 Aerodynamic Forces 31
2.3 The Hamilton Principle 32
2.4 Separation of Variables 32
2.5 Useful Lemmas 34
2.5.1 Lyapunov's Direct Method 34
2.5.2 Barbalat's Lemma 35
2.5.3 Other Useful Lemmas 35
References 37
3 PDE Modeling and Basic Vibration Control for Flexible Satellite 38
3.1 Introduction 38
3.2 Problem Formulation 39
3.3 Control Design 42
3.4 Simulation 48
References 56
4 Boundary Control for Flexible Satellite with Input Constraint 57
4.1 Introduction 57
4.2 Problem Formulation 58
4.3 Boundary Control Design 59
4.4 Simulation 68
References 77
5 PDE Modeling and Basic Vibration Control for Flexible Aerial Refueling Hose 78
5.1 Introduction 78
5.2 Problem Formulation 79
5.3 Boundary Control Design 82
5.4 Simulation 84
References 95
6 Vibration Control of a Flexible Aerial Refueling Hose with Input Saturation 96
6.1 Introduction 96
6.2 Problem Formulation 97
6.3 Control Design 100
6.4 Simulation 104
References 113
7 Deadzone Compensation Based Boundary Control for Flexible Aerial Refueling Hose with Output Constraint 114
7.1 Introduction 114
7.2 Problem Formulation 115
7.3 Basic Control Design for Deadzone Compensation 117
7.4 Barrier Lyapunov Function (BLF) Based Control Design 120
7.5 Simulation 122
References 129
8 Modeling and Vibration Control of a Flexible Aerial Refueling Hose with Variable Lengths and Input Constraint 130
8.1 Introduction 130
8.2 Problem Formulation 131
8.3 Control Design 133
8.4 Stability Analysis 137
8.5 Simulation 141
References 147
9 Dynamic Modeling and Vibration Control for a Nonlinear Three-Dimensional Flexible Manipulator 148
9.1 Introduction 148
9.2 Problem Formulation 149
9.3 Control Design 154
9.4 Simulation 156
References 182
10 Conclusion 183

Produkt-Details

• Erscheint lt. Verlag: 16.3.2020
• Reihe/Serie: Springer Tracts in Mechanical Engineering
• Reihe/Serie: Springer Tracts in Mechanical Engineering
• Zusatzinfo: XV, 174 p. 62 illus., 55 illus. in color.
• Sprache: englisch
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Mathematik / Informatik ► Mathematik ► Angewandte Mathematik
• Themenwelt: Technik ► Bauwesen
• Themenwelt: Technik ► Maschinenbau
• Schlagworte: Boundary Control • Disturbance Observer • Flexible Aerial Refueling Hose • Flexible Mechanical Systems • Flexible Satellite • Input Saturation • Output Constraint • Partial differential equations • Vibration Control
• ISBN-10: 981-15-2596-X / 981152596X
• ISBN-13: 978-981-15-2596-4 / 9789811525964