Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems

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.

Autorentext

Jiangshuai Huang received his B.Eng. and M.Sc. degree in School of Automation from Huazhong University of Science & Technology, Wuhan, China in July 2007 and August 2009 respectively, and his PhD degree from the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore in May 2015. He joined the Department of Electrical and Computer Engineering, National University of Singapore, Singapore as a research fellow from August 2014 to January 2016 where his main research focused on the modeling and optimization of Singapore national electricity market. He joined the School of Automation, Chongqing University, Chongqing, China and now he is an assistant professor. His research interests include adaptive control, nonlinear systems control, underactuated mechanical system control, and multi-agent system control. Yong-Duan Song received his Ph.D. degree in electrical and computer engineering from Tennessee Technological University, Cookeville, USA, in 1992. He held a tenured Full Professor position with North Carolina A&T State University, Greensboro, from 1993 to 2008, and a Langley Distinguished Professor position with the National Institute of Aerospace, Hampton, VA, from 2005 to 2008. He is now the Dean of School of Automation, Chongqing University, and the Founding Director of the Institute of Smart Systems and Renewable Energy, Chongqing University. He was one of the six Langley Distinguished Professors with the National Institute of Aerospace (NIA), Founding Director of Cooperative Systems at NIA. He has served as an Associate Editor/Guest Editor for several prestigious scientific journals. Prof. Song has received several competitive research awards from the National Science Foundation, the National Aeronautics and Space Administration, the U.S. Air Force Office, the U.S. Army Research Office, and the U.S. Naval Research Office. His research interests include intelligent systems, guidance navigation and control, bio-inspired adaptive and cooperative systems, rail traffic control and safety, and smart grid.

Inhalt

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 Ships
7.1 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 Conclusions 9 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