Over the last 50 years or so, a number of textbooks, monographs and even popular books have been published on nonlinear control theory and design methods. In the area of classical control, for example, there exist books concerned with phase-plane analysis, describing function approach, absolute stability and so on. In the area of modern control there are those related to optimal control, using differential geometry and the differential algebra method, variable structural control, H-infinite control and so on. These books have been useful in promoting the development of automatic control science and technology. Since 1990 there have been many new results and contributions in the area of nonlinear control. This book introduces those topics to interested readers. It should also benefit automation engineers, researchers and scholars in related fields.
Author(s): T. P. Leung, H. S. Qin
Series: World Scientific Series on Nonlinear Science, Series a
Publisher: World Scientific Publishing Company
Year: 2001
Language: English
Commentary: 40989
Pages: 257
Contents ......Page 8
PREFACE ......Page 6
1.1 Introduction ......Page 12
1.2 From Newton's second law to Hamiltonian equation ......Page 15
1.3 Symplectic manifold and Poisson manifold ......Page 19
1.4 Pseudo-Hamiltonian systems and controlled pseudo-Hamiltonian systems ......Page 23
1.5 Pseudo-Poisson manifold ......Page 27
1.6 Integrability ......Page 30
1.7 w-manifold ......Page 34
1.8 Structure group and its algebra ......Page 37
1.9 Spectrum ......Page 41
1.10 Structure invariance ......Page 42
1.11 Stabilization of excitation control ......Page 48
1.12 Stabilization and Hw control for dissipative Hamiltonian systems ......Page 52
1.13 Summary ......Page 59
2.1 Introduction ......Page 63
2.2 Classes of finite-time feedback ......Page 66
2.3 Preliminary results ......Page 69
2.4 Finite-time state feedback ......Page 73
2.5 Finite-time observer ......Page 81
2.6 Output feedback ......Page 84
2.7 Convergent rate ......Page 87
2.8 Applications in robot control ......Page 89
2.9 Robust issues ......Page 93
2.10 Conclusions ......Page 96
3.1 Introduction ......Page 99
3.2 Preliminaries ......Page 101
3.3 Stabilization of observable systems ......Page 109
3.4 Stabilization of partially linear composite system ......Page 115
3.5 Stabilization of a special class of systems ......Page 128
4.2 Hybrid systems and hybrid control ......Page 140
4.3 Quadratic stability of homogeneous switched systems ......Page 144
4.4 A hybrid controller for the cart-pendulum system ......Page 151
4.5 Concluding remarks ......Page 168
5.1 Introduction ......Page 172
5.2 Dynamic model of nonholonomic mechanical systems ......Page 173
5.3 Robust control design based on SMC ......Page 177
5.4 Applications to the nonholonomic mobile robots ......Page 193
5.5 Conclusions ......Page 199
6.1 Overview of chaos chaos control and anticontrol ......Page 204
6.2 Challenges in chaos control ......Page 208
6.3 Representative chaos control methods ......Page 212
6.4 Anticontrol of chaos: chaotification ......Page 234
6.5 Some concluding remarks ......Page 248
