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Dynamics And Control Of Hybrid Mechanical Systems

Author: Gennady A Leonov

Publisher: World Scientific

Published: 2010-01-13

Total Pages: 261

ISBN-13: 9814467014

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The papers in this edited volume aim to provide a better understanding of the dynamics and control of a large class of hybrid dynamical systems that are described by different models in different state space domains. They not only cover important aspects and tools for hybrid systems analysis and control, but also a number of experimental realizations. Special attention is given to synchronization — a universal phenomenon in nonlinear science that gained tremendous significance since its discovery by Huygens in the 17th century. Possible applications of the results introduced in the book include control of mobile robots, control of CD/DVD players, flexible manufacturing lines, and complex networks of interacting agents.The book is based on the material presented at a similarly entitled minisymposium at the 6th European Nonlinear Dynamics Conference held in St Petersburg in 2008. It is unique in that it contains results of several international and interdisciplinary collaborations in the field, and reflects state-of-the-art technological development in the area of hybrid mechanical systems at the forefront of the 21st century.

Book Synopsis Dynamics And Control Of Hybrid Mechanical Systems by : Gennady A Leonov

Download or read book Dynamics And Control Of Hybrid Mechanical Systems written by Gennady A Leonov and published by World Scientific. This book was released on 2010-01-13 with total page 261 pages. Available in PDF, EPUB and Kindle. Book excerpt: The papers in this edited volume aim to provide a better understanding of the dynamics and control of a large class of hybrid dynamical systems that are described by different models in different state space domains. They not only cover important aspects and tools for hybrid systems analysis and control, but also a number of experimental realizations. Special attention is given to synchronization — a universal phenomenon in nonlinear science that gained tremendous significance since its discovery by Huygens in the 17th century. Possible applications of the results introduced in the book include control of mobile robots, control of CD/DVD players, flexible manufacturing lines, and complex networks of interacting agents.The book is based on the material presented at a similarly entitled minisymposium at the 6th European Nonlinear Dynamics Conference held in St Petersburg in 2008. It is unique in that it contains results of several international and interdisciplinary collaborations in the field, and reflects state-of-the-art technological development in the area of hybrid mechanical systems at the forefront of the 21st century.

Dynamics and Control of Hybrid Mechanical Systems

Author: Gennadiĭ Alekseevich Leonov

Publisher: World Scientific

Published: 2010

Total Pages: 261

ISBN-13: 9814282324

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The papers in this edited volume aim to provide a better understanding of the dynamics and control of a large class of hybrid dynamical systems that are described by different models in different state space domains. They not only cover important aspects and tools for hybrid systems analysis and control, but also a number of experimental realizations. Special attention is given to synchronization a universal phenomenon in nonlinear science that gained tremendous significance since its discovery by Huygens in the 17th century. Possible applications of the results introduced in the book include control of mobile robots, control of CD/DVD players, flexible manufacturing lines, and complex networks of interacting agents. The book is based on the material presented at a similarly entitled minisymposium at the 6th European Nonlinear Dynamics Conference held in St Petersburg in 2008. It is unique in that it contains results of several international and interdisciplinary collaborations in the field, and reflects state-of-the-art technological development in the area of hybrid mechanical systems at the forefront of the 21st century.

Book Synopsis Dynamics and Control of Hybrid Mechanical Systems by : Gennadiĭ Alekseevich Leonov

Download or read book Dynamics and Control of Hybrid Mechanical Systems written by Gennadiĭ Alekseevich Leonov and published by World Scientific. This book was released on 2010 with total page 261 pages. Available in PDF, EPUB and Kindle. Book excerpt: The papers in this edited volume aim to provide a better understanding of the dynamics and control of a large class of hybrid dynamical systems that are described by different models in different state space domains. They not only cover important aspects and tools for hybrid systems analysis and control, but also a number of experimental realizations. Special attention is given to synchronization a universal phenomenon in nonlinear science that gained tremendous significance since its discovery by Huygens in the 17th century. Possible applications of the results introduced in the book include control of mobile robots, control of CD/DVD players, flexible manufacturing lines, and complex networks of interacting agents. The book is based on the material presented at a similarly entitled minisymposium at the 6th European Nonlinear Dynamics Conference held in St Petersburg in 2008. It is unique in that it contains results of several international and interdisciplinary collaborations in the field, and reflects state-of-the-art technological development in the area of hybrid mechanical systems at the forefront of the 21st century.

On the Optimal Control of Mechanical Systems

Author: Kathrin Flaßkamp

Publisher:

Published: 2013

Total Pages: 0

ISBN-13:

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Optimal control problems for mechanical systems manifoldly arise in the fields of engineering and natural sciences, for instance, in robotics, biomechanics, automotive systems, or in space mission design. Here, the aim is to influence the systems dynamical behavior via its control inputs such that a given problem is optimally solved. For complex technical systems, an adequate modeling leads to hybrid dynamical systems. Hybrid control strategies provide a range of new possibilities for the design and the numerical computation of optimal control laws and, at the same time, a number of interesting open questions concerning the analysis, control, and optimization of hybrid dynamical systems arise. This thesis is devoted to two main aspects in this field: structure exploiting motion planning and optimal control of hybrid mechanical systems. The first part focuses on an optimal control method termed motion planning with motion primitives, which is based on exploiting inherent dynamical structures of the system, namely symmetry and (un)stable invariant manifolds. In many applications, energy efficiency plays a major role in the control design. To compute sequences with minimal control effort, the uncontrolled, i.e. natural dynamics are searched for (un)stable invariant manifolds of equilibrium points. In the second part of this thesis, the optimal control method DMOC (Discrete Mechanics and Optimal Control) is extended to hybrid mechanical systems. To this aim, a hybrid variational principle is developed. Then, an optimal control problem for a hybrid mechanical system can be addressed by a two layer approach. As an important subproblem, switching time optimization for discretized dynamical systems is studied. Finally, the motion planning method is brought into the hybrid optimal control setting. ; eng

Book Synopsis On the Optimal Control of Mechanical Systems by : Kathrin Flaßkamp

Download or read book On the Optimal Control of Mechanical Systems written by Kathrin Flaßkamp and published by . This book was released on 2013 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Optimal control problems for mechanical systems manifoldly arise in the fields of engineering and natural sciences, for instance, in robotics, biomechanics, automotive systems, or in space mission design. Here, the aim is to influence the systems dynamical behavior via its control inputs such that a given problem is optimally solved. For complex technical systems, an adequate modeling leads to hybrid dynamical systems. Hybrid control strategies provide a range of new possibilities for the design and the numerical computation of optimal control laws and, at the same time, a number of interesting open questions concerning the analysis, control, and optimization of hybrid dynamical systems arise. This thesis is devoted to two main aspects in this field: structure exploiting motion planning and optimal control of hybrid mechanical systems. The first part focuses on an optimal control method termed motion planning with motion primitives, which is based on exploiting inherent dynamical structures of the system, namely symmetry and (un)stable invariant manifolds. In many applications, energy efficiency plays a major role in the control design. To compute sequences with minimal control effort, the uncontrolled, i.e. natural dynamics are searched for (un)stable invariant manifolds of equilibrium points. In the second part of this thesis, the optimal control method DMOC (Discrete Mechanics and Optimal Control) is extended to hybrid mechanical systems. To this aim, a hybrid variational principle is developed. Then, an optimal control problem for a hybrid mechanical system can be addressed by a two layer approach. As an important subproblem, switching time optimization for discretized dynamical systems is studied. Finally, the motion planning method is brought into the hybrid optimal control setting. ; eng

Vehicle Dynamics and Control

Author: Rajesh Rajamani

Publisher: Springer Science & Business Media

Published: 2011-12-21

Total Pages: 516

ISBN-13: 1461414326

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Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.

Book Synopsis Vehicle Dynamics and Control by : Rajesh Rajamani

Download or read book Vehicle Dynamics and Control written by Rajesh Rajamani and published by Springer Science & Business Media. This book was released on 2011-12-21 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.

An Introduction to Hybrid Dynamical Systems

Author: Arjan J. van der Schaft

Publisher: Springer

Published: 2007-10-03

Total Pages: 189

ISBN-13: 1846285429

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This book is about dynamical systems that are "hybrid" in the sense that they contain both continuous and discrete state variables. Recently there has been increased research interest in the study of the interaction between discrete and continuous dynamics. The present volume provides a first attempt in book form to bring together concepts and methods dealing with hybrid systems from various areas, and to look at these from a unified perspective. The authors have chosen a mode of exposition that is largely based on illustrative examples rather than on the abstract theorem-proof format because the systematic study of hybrid systems is still in its infancy. The examples are taken from many different application areas, ranging from power converters to communication protocols and from chaos to mathematical finance. Subjects covered include the following: definition of hybrid systems; description formats; existence and uniqueness of solutions; special subclasses (variable-structure systems, complementarity systems); reachability and verification; stability and stabilizability; control design methods. The book will be of interest to scientists from a wide range of disciplines including: computer science, control theory, dynamical system theory, systems modeling and simulation, and operations research.

Book Synopsis An Introduction to Hybrid Dynamical Systems by : Arjan J. van der Schaft

Download or read book An Introduction to Hybrid Dynamical Systems written by Arjan J. van der Schaft and published by Springer. This book was released on 2007-10-03 with total page 189 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about dynamical systems that are "hybrid" in the sense that they contain both continuous and discrete state variables. Recently there has been increased research interest in the study of the interaction between discrete and continuous dynamics. The present volume provides a first attempt in book form to bring together concepts and methods dealing with hybrid systems from various areas, and to look at these from a unified perspective. The authors have chosen a mode of exposition that is largely based on illustrative examples rather than on the abstract theorem-proof format because the systematic study of hybrid systems is still in its infancy. The examples are taken from many different application areas, ranging from power converters to communication protocols and from chaos to mathematical finance. Subjects covered include the following: definition of hybrid systems; description formats; existence and uniqueness of solutions; special subclasses (variable-structure systems, complementarity systems); reachability and verification; stability and stabilizability; control design methods. The book will be of interest to scientists from a wide range of disciplines including: computer science, control theory, dynamical system theory, systems modeling and simulation, and operations research.

Handbook of Hybrid Systems Control

Author: Jan Lunze

Publisher: Cambridge University Press

Published: 2009-10-15

Total Pages: 583

ISBN-13: 0521765056

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Sets out core theory and reviews new methods and applications to show how hybrid systems can be modelled and understood.

Book Synopsis Handbook of Hybrid Systems Control by : Jan Lunze

Download or read book Handbook of Hybrid Systems Control written by Jan Lunze and published by Cambridge University Press. This book was released on 2009-10-15 with total page 583 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sets out core theory and reviews new methods and applications to show how hybrid systems can be modelled and understood.

Nonsmooth Mechanics

Author: Bernard Brogliato

Publisher: Springer Science & Business Media

Published: 2012-12-06

Total Pages: 565

ISBN-13: 1447105575

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Thank you for opening the second edition of this monograph, which is devoted to the study of a class of nonsmooth dynamical systems of the general form: ::i; = g(x,u) (0. 1) f(x, t) 2: 0 where x E JRn is the system's state vector, u E JRm is the vector of inputs, and the function f (-, . ) represents a unilateral constraint that is imposed on the state. More precisely, we shall restrict ourselves to a subclass of such systems, namely mechanical systems subject to unilateral constraints on the position, whose dynamical equations may be in a first instance written as: ii= g(q,q,u) (0. 2) f(q, t) 2: 0 where q E JRn is the vector of generalized coordinates of the system and u is an in put (or controller) that generally involves a state feedback loop, i. e. u= u(q, q, t, z), with z= Z(z, q, q, t) when the controller is a dynamic state feedback. Mechanical systems composed of rigid bodies interacting fall into this subclass. A general prop erty of systems as in (0. 1) and (0. 2) is that their solutions are nonsmooth (with respect to time): Nonsmoothness arises primarily from the occurence of impacts (or collisions, or percussions) in the dynamical behaviour, when the trajectories attain the surface f(x, t) = O. They are necessary to keep the trajectories within the subspace = {x : f(x, t) 2: O} of the system's state space.

Book Synopsis Nonsmooth Mechanics by : Bernard Brogliato

Download or read book Nonsmooth Mechanics written by Bernard Brogliato and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 565 pages. Available in PDF, EPUB and Kindle. Book excerpt: Thank you for opening the second edition of this monograph, which is devoted to the study of a class of nonsmooth dynamical systems of the general form: ::i; = g(x,u) (0. 1) f(x, t) 2: 0 where x E JRn is the system's state vector, u E JRm is the vector of inputs, and the function f (-, . ) represents a unilateral constraint that is imposed on the state. More precisely, we shall restrict ourselves to a subclass of such systems, namely mechanical systems subject to unilateral constraints on the position, whose dynamical equations may be in a first instance written as: ii= g(q,q,u) (0. 2) f(q, t) 2: 0 where q E JRn is the vector of generalized coordinates of the system and u is an in put (or controller) that generally involves a state feedback loop, i. e. u= u(q, q, t, z), with z= Z(z, q, q, t) when the controller is a dynamic state feedback. Mechanical systems composed of rigid bodies interacting fall into this subclass. A general prop erty of systems as in (0. 1) and (0. 2) is that their solutions are nonsmooth (with respect to time): Nonsmoothness arises primarily from the occurence of impacts (or collisions, or percussions) in the dynamical behaviour, when the trajectories attain the surface f(x, t) = O. They are necessary to keep the trajectories within the subspace = {x : f(x, t) 2: O} of the system's state space.

Kinematics and Dynamics of Multi-Body Systems

Author: J. Angeles

Publisher: Springer

Published: 2014-05-04

Total Pages: 344

ISBN-13: 3709143624

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Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as coupling or rigid bodies. The treatment is intended to give a state of the art of the topics discussed.

Book Synopsis Kinematics and Dynamics of Multi-Body Systems by : J. Angeles

Download or read book Kinematics and Dynamics of Multi-Body Systems written by J. Angeles and published by Springer. This book was released on 2014-05-04 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as coupling or rigid bodies. The treatment is intended to give a state of the art of the topics discussed.

Modeling, Dynamics, and Control of Electrified Vehicles

Author: Haiping Du

Publisher: Woodhead Publishing

Published: 2017-10-19

Total Pages: 520

ISBN-13: 0128131098

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Modelling, Dynamics and Control of Electrified Vehicles provides a systematic overview of EV-related key components, including batteries, electric motors, ultracapacitors and system-level approaches, such as energy management systems, multi-source energy optimization, transmission design and control, braking system control and vehicle dynamics control. In addition, the book covers selected advanced topics, including Smart Grid and connected vehicles. This book shows how EV work, how to design them, how to save energy with them, and how to maintain their safety. The book aims to be an all-in-one reference for readers who are interested in EVs, or those trying to understand its state-of-the-art technologies and future trends. Offers a comprehensive knowledge of the multidisciplinary research related to EVs and a system-level understanding of technologies Provides the state-of-the-art technologies and future trends Covers the fundamentals of EVs and their methodologies Written by successful researchers that show the deep understanding of EVs

Book Synopsis Modeling, Dynamics, and Control of Electrified Vehicles by : Haiping Du

Download or read book Modeling, Dynamics, and Control of Electrified Vehicles written by Haiping Du and published by Woodhead Publishing. This book was released on 2017-10-19 with total page 520 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modelling, Dynamics and Control of Electrified Vehicles provides a systematic overview of EV-related key components, including batteries, electric motors, ultracapacitors and system-level approaches, such as energy management systems, multi-source energy optimization, transmission design and control, braking system control and vehicle dynamics control. In addition, the book covers selected advanced topics, including Smart Grid and connected vehicles. This book shows how EV work, how to design them, how to save energy with them, and how to maintain their safety. The book aims to be an all-in-one reference for readers who are interested in EVs, or those trying to understand its state-of-the-art technologies and future trends. Offers a comprehensive knowledge of the multidisciplinary research related to EVs and a system-level understanding of technologies Provides the state-of-the-art technologies and future trends Covers the fundamentals of EVs and their methodologies Written by successful researchers that show the deep understanding of EVs

Vehicle Dynamics and Control

Author: Rajesh Rajamani

Publisher: Springer Science & Business Media

Published: 2011-12-23

Total Pages: 516

ISBN-13: 1461414334

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Book Synopsis Vehicle Dynamics and Control by : Rajesh Rajamani

Download or read book Vehicle Dynamics and Control written by Rajesh Rajamani and published by Springer Science & Business Media. This book was released on 2011-12-23 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.