Control of Underactuated Mechanical Systems

Stabilisation and Limit Cycle Generation

Ahmed Chemori, Afef Hfaiedh (Autoren)

Buch | Softcover

230 Seiten

2025
Academic Press Inc (Verlag)
978-0-443-24020-1 (ISBN)

Noch nicht erschienen (ca. April 2025)
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Control of Underactuated Mechanical Systems: Stabilisation and Limit Cycle Generation explains the concepts of stabilization and stable limit cycle generation for the class of underactuated mechanical systems. The book demonstrates the proposed concepts through real-time experiments on a real UMS subject and explores the challenges and constraints related to real-time control design. These concepts are illustrated in terms of the modeling and control of systems, such as the inertia wheel inverted pendulum (IWIP). This book serves as a valuable resource for PhD and Master students, engineers, researchers, and teachers. This book is organized into three parts: Part I: General context and case study; Part II: Control solutions for the stabilization problem; Part III: Control solutions for stable limit cycle generation. The final part addresses the problem of stable limit cycle generation, where the proposed control solution is detailed, as well as its related issues of implementation and validation through different case studies. Its content guides them in the field of robotics and automatic control, with a simplified methodology to control dynamical underactuated mechanical systems.

Ahmed Chemori received M.Sc. and Ph.D. degrees both in automatic control from the Grenoble Institute of Technology, Grenoble, France, in 2001 and 2005, respectively. During the year 2004/2005 he has been a Research and Teaching assistant at Laboratoire de Signaux et Systèmes (LSS - Centrale Supelec) and the University Paris 11. Then he joined in 2006 Gipsa-Lab (Former LAG) as a CNRS postdoctoral fellow. He is currently a senior Research Scientist in automatic control and robotics with LIRMM, University of Montpellier, CNRS. His research interests include nonlinear (robust, adaptive and predictive) control and their real-time applications in complex robotic systems. Afef Hfaiedh received her Master’s degree in Automatic, Robotics, and Signal Processing in 2015 and her Ph.D. degree in Automatic Control in 2021, both from the National Engineering School of Carthage. In 2023, she joined the Laboratory of Robotics, Informatics, and Complex Systems (RISC-LAB) as a postdoctoral researcher. She is currently working as a part-time professor at the University of Tunis El Manar, National Engineering School of Tunis, teaching engineering courses in electrical engineering. Her research interests include nonlinear, adaptive, and sliding-mode control and their applications in robotics and nonlinear underactuated mechanical systems

Part I: General context and case study
1. Introduction
2. The inertia wheel inverted pendulum case study

Part II: Control solutions for the stabilisation problem
3. A revisited adaptive sliding mode control scheme
4. Nonlinear RISE feedback control scheme
5. Model reference adaptive IDA-PBC approach

Part III: Control solutions for stable limit cycle generation problem
6. Partial feedback linearization and optimization
7. Nonlinear Model Predictive control
8. Dual Model Free control

Erscheint lt. Verlag	1.4.2025
Reihe/Serie	Emerging Methodologies and Applications in Modelling, Identification and Control
Verlagsort	San Diego
Sprache	englisch
Maße	152 x 229 mm
Themenwelt	Technik ► Maschinenbau
ISBN-10	0-443-24020-5 / 0443240205
ISBN-13	978-0-443-24020-1 / 9780443240201
Zustand	Neuware