Documents disponibles dans la collection

Active fault tolerant control systems / Mufeed Mahmoud

Public ISBD Titre : Active fault tolerant control systems : stochastic analysis and synthesis Type de document : texte imprimé Auteurs : Mufeed Mahmoud, Auteur ; Jin Jiang, Auteur ; Youmin Zhang, Auteur Editeur : Berlin; Heidelberg; New York : Springer-Verlag Année de publication : 2003 Collection : Lecture Notes in Control and Information Sciences Importance : 210 p. Présentation : couv. ill. en coul., ill. Format : 24 cm. ISBN/ISSN/EAN : 9783540003185 Langues : Anglais (eng) Catégories : AUTOMATISME Index. décimale : 25-07 Théorie de la commande: commandes des processus Résumé : Modern technological systems rely on sophisticated control functions to meet increased performance requirements. For such systems, Fault Tolerant Control Systems (FTCS) need to be developed. Active FTCS are dependent on a Fault Detection and Identification (FDI) process to monitor system performance and to detect and isolate faults in the systems. The main objective of this book is to study and to validate some important issues in real-time Active FTCS by means of theoretical analysis and simulation. Several models are presented to achieve this objective, taking into consideration practical aspects of the system to be controlled, performance deterioration in FDI algorithms, and limitations in reconfigurable control laws. Note de contenu : Contents 1 INTRODUCTION 2 Active Fault Tolerant Control in Prospective. 3 Stochastic Stability. 4 Ftcs with Markovian Parameters (FTCSMP). 5 Stochastic Stability of FTCSMP. 6 Performance and Staility of FTCSMP Under Imperfect FDI. 7 FTCSMP with Actuator Saturation and Parameter Uncertainties. 8 Synthesis of Fault Tolerant Control Laws. 9 Epilogue. Active fault tolerant control systems : stochastic analysis and synthesis [texte imprimé] / Mufeed Mahmoud, Auteur ; Jin Jiang, Auteur ; Youmin Zhang, Auteur . - Berlin; Heidelberg; New York : Springer-Verlag, 2003 . - 210 p. : couv. ill. en coul., ill. ; 24 cm.. - (Lecture Notes in Control and Information Sciences) . ISSN : 9783540003185 Langues : Anglais (eng) Catégories : AUTOMATISME Index. décimale : 25-07 Théorie de la commande: commandes des processus Résumé : Modern technological systems rely on sophisticated control functions to meet increased performance requirements. For such systems, Fault Tolerant Control Systems (FTCS) need to be developed. Active FTCS are dependent on a Fault Detection and Identification (FDI) process to monitor system performance and to detect and isolate faults in the systems. The main objective of this book is to study and to validate some important issues in real-time Active FTCS by means of theoretical analysis and simulation. Several models are presented to achieve this objective, taking into consideration practical aspects of the system to be controlled, performance deterioration in FDI algorithms, and limitations in reconfigurable control laws. Note de contenu : Contents 1 INTRODUCTION 2 Active Fault Tolerant Control in Prospective. 3 Stochastic Stability. 4 Ftcs with Markovian Parameters (FTCSMP). 5 Stochastic Stability of FTCSMP. 6 Performance and Staility of FTCSMP Under Imperfect FDI. 7 FTCSMP with Actuator Saturation and Parameter Uncertainties. 8 Synthesis of Fault Tolerant Control Laws. 9 Epilogue.

Exemplaires

Code-barres	Cote	Support	Localisation	Section	Disponibilité	N.Inventaire
414	25-07-12	Livre	Bibliothèque de Génie Electrique- USTO	Documentaires	Exclu du prêt	414

Control of sandwich nonlinear systems / Avinash Taware

Public ISBD Titre : Control of sandwich nonlinear systems Type de document : texte imprimé Auteurs : Avinash Taware, Auteur ; Gang Tao, Auteur Editeur : Berlin; Heidelberg; New York : Springer-Verlag Année de publication : 2003 Collection : Lecture Notes in Control and Information Sciences Importance : 226 p. Présentation : couv. ill. en coul., ill. Format : 23,8 cm. ISBN/ISSN/EAN : 9783540441158 Langues : Anglais (eng) Catégories : AUTOMATISME Index. décimale : 25-07 Théorie de la commande: commandes des processus Résumé : This unique monograph introduces an important new area of control system research and presents some new methods for solving some typical problems in the field of sandwich nonlinear systems. Sandwiched nonsmooth nonlinearities such as dead-zone, hysteresis and backlash between dynamic blocks are presented, as well as continuous-time control designs. A framework for hybrid control is developed that is used to design control schemes for different cases of the control problem with required modifications. Friction compensation is addressed for systems with sandwiched friction along with sandwiched dynamics. An open problem of the control of sandwich nonlinear systems with actuator failures is introduced by a control design for an illustrative case. Note de contenu : Table of contents 1. Introduction -- 2. Problem Formulation -- 3. Continuous-Time Control Designs -- 4. Hybrid Control Designs -- 5. Adaptive Inverse Hybrid Design -- 6. Neural Hybrid Control -- 7. Friction Compensation for A Sandwich Dynamic System -- 8. Adaptive Friction Compensation Based on Feedback Linearization -- 9. Control of Systems with Actuator Nonlinearities and Failures -- 10. Control of Systems with Sandwiched Backlash -- 11. Conclusions and Future Research references and index. Control of sandwich nonlinear systems [texte imprimé] / Avinash Taware, Auteur ; Gang Tao, Auteur . - Berlin; Heidelberg; New York : Springer-Verlag, 2003 . - 226 p. : couv. ill. en coul., ill. ; 23,8 cm.. - (Lecture Notes in Control and Information Sciences) . ISSN : 9783540441158 Langues : Anglais (eng) Catégories : AUTOMATISME Index. décimale : 25-07 Théorie de la commande: commandes des processus Résumé : This unique monograph introduces an important new area of control system research and presents some new methods for solving some typical problems in the field of sandwich nonlinear systems. Sandwiched nonsmooth nonlinearities such as dead-zone, hysteresis and backlash between dynamic blocks are presented, as well as continuous-time control designs. A framework for hybrid control is developed that is used to design control schemes for different cases of the control problem with required modifications. Friction compensation is addressed for systems with sandwiched friction along with sandwiched dynamics. An open problem of the control of sandwich nonlinear systems with actuator failures is introduced by a control design for an illustrative case. Note de contenu : Table of contents 1. Introduction -- 2. Problem Formulation -- 3. Continuous-Time Control Designs -- 4. Hybrid Control Designs -- 5. Adaptive Inverse Hybrid Design -- 6. Neural Hybrid Control -- 7. Friction Compensation for A Sandwich Dynamic System -- 8. Adaptive Friction Compensation Based on Feedback Linearization -- 9. Control of Systems with Actuator Nonlinearities and Failures -- 10. Control of Systems with Sandwiched Backlash -- 11. Conclusions and Future Research references and index.

Exemplaires

Code-barres	Cote	Support	Localisation	Section	Disponibilité	N.Inventaire
517	25-07-16	Livre	Bibliothèque de Génie Electrique- USTO	Documentaires	Exclu du prêt	517

Robot Motion and Control 2009 / Krzysztof R. Koztowski

Public ISBD Titre : Robot Motion and Control 2009 Type de document : texte imprimé Auteurs : Krzysztof R. Koztowski, Auteur Editeur : Berlin; Heidelberg; New York : Springer-Verlag Année de publication : 2009 Collection : Lecture Notes in Control and Information Sciences Importance : 475 p. Présentation : couv. ill.,ill. Format : 23,5 cm. ISBN/ISSN/EAN : 978-1-84882-984-8 Langues : Anglais (eng) Catégories : AUTOMATISME Index. décimale : 25-08 Robotique.Application et simulation Résumé : Robot Motion Control 2009 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2009. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors, new control algorithms for industrial robots, nonholonomic systems and legged robots, different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others, multiagent systems consisting of mobile and flying robots with their applications. The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields. Note de contenu : Contents Part 1. Control of Nonholonomic Systems 1 Geometrical Properties of Aircraft Equilibrium and Nonequilibrium Trajectory Arcs 2 Identification of a UAV Model for Control 3 Finite-time VFO Stabilizers for the Unicycle with Constrained Control Input 4 Nonsmooth Stabilizer for Three Link Nonholonomic Manipulator Using Polar-like Coordinate Representation 5 Kinematic Tracking Controller for Unicycle Mobile Robot Based on Polar-like Representation and Lyapunov Analysis 6 Trajectory Tracking for Formation of Mobile Robots Part II. New Control Algorithms for RobotManipulators 7 Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam 8 Application of the Return Method to the Steering of Nonlinear Systems 9 Application of Robust Fixed Point Transformations for Technological Operation of Robots 10 Fixed Point Transformations in the Adaptive Control of Fractional-order MIMO Systems 11 Fractional-order Mathematical Model of Pneumatic Muscle Drive for Robotic Applications 12 Combinatorial Control Systems 13 Computational Algebra Support for the Chen-Fliess-Sussmann Differential Equation Part III. Control of Walking Robots 14 Biologically Inspired Motor Control for Underactuated Robots – Trends and Challenges 15 Adaptation of a Six-legged Walking Robot to Its Local Environment 16 Development of Two-legged Robot 17 Quadruped Walking Robot WR-06 – Design, Control and Sensor Subsystems 18 Population-based Methods for Identification and Optimization of a Walking Robot Model 19 Static Equilibrium Condition for a Multi-leg, Stairs Climbing Walking Robot Part IV. Compliant Motion and Manipulation 20 Human-aware Interaction Control of Robot Manipulators Based on Force and Vision 21 Specification of Multi-robot Controllers on an Example of a Haptic Device 22 Characterization of the Dynamical Model of a Force Sensor for Robot Manipulators 23 Inverse Kinematics for Object Manipulation with Redundant Multi-fingered Robotic Hands 24 Compliant Motion Control for Safe Human Robot Interaction Part V. Trajectory Planning Issues for Nonholonomic Systems 25 Nonholonomic Motion Planning of Mobile Robots 26 Minimum-time Velocity Planning with Arbitrary Boundary Conditions 27 Motion Planning for Highly Constrained Spaces 28 RRT-path – A Guided Rapidly Exploring Random Tree Part VI. New Trends in Localization Methods 29 Position Estimation Techniques for Mobile Robots 30 Particle Filtering with Range Data Association for Mobile Robot Localization in Environments with Repetitive Geometry 31 Observable Formulation SLAM Implementation 32 Estimation of Velocity Components Using Optical Flow and Inner Product Part VII. Sensors and New Challenges in Design of Modular Robots 33 Acoustic Coupling on the Robot Motion and Control 34 Design of a Planar High Precision Motion Stage 35 Hexa Platform as Active Environment System 36 A Modular Concept for a Biologically Inspired Robot 37 Control System for Designed Mobile Robot – Project, Implementation, and Tests 38 Team of Specialized Mobile Robots for Group Inspection of Large-area Technical Objects Part VIII. Applications of Robotic Systems 39 Muscle Test and Exercise System for Upper Limbs Using 3D Force Display Robot 40 Tests on Cardiosurgical Robot RobIn Heart 3 41 Ankle Robot for People with Drop Foot – Case Study 42 Evolution of a Useful Autonomous System 43 Obstacle Handling of the Holonomic-driven Interactive Behavior-operated Shopping Trolley InBOT -Index Robot Motion and Control 2009 [texte imprimé] / Krzysztof R. Koztowski, Auteur . - Berlin; Heidelberg; New York : Springer-Verlag, 2009 . - 475 p. : couv. ill.,ill. ; 23,5 cm.. - (Lecture Notes in Control and Information Sciences) . ISBN : 978-1-84882-984-8 Langues : Anglais (eng) Catégories : AUTOMATISME Index. décimale : 25-08 Robotique.Application et simulation Résumé : Robot Motion Control 2009 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2009. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors, new control algorithms for industrial robots, nonholonomic systems and legged robots, different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others, multiagent systems consisting of mobile and flying robots with their applications. The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields. Note de contenu : Contents Part 1. Control of Nonholonomic Systems 1 Geometrical Properties of Aircraft Equilibrium and Nonequilibrium Trajectory Arcs 2 Identification of a UAV Model for Control 3 Finite-time VFO Stabilizers for the Unicycle with Constrained Control Input 4 Nonsmooth Stabilizer for Three Link Nonholonomic Manipulator Using Polar-like Coordinate Representation 5 Kinematic Tracking Controller for Unicycle Mobile Robot Based on Polar-like Representation and Lyapunov Analysis 6 Trajectory Tracking for Formation of Mobile Robots Part II. New Control Algorithms for RobotManipulators 7 Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam 8 Application of the Return Method to the Steering of Nonlinear Systems 9 Application of Robust Fixed Point Transformations for Technological Operation of Robots 10 Fixed Point Transformations in the Adaptive Control of Fractional-order MIMO Systems 11 Fractional-order Mathematical Model of Pneumatic Muscle Drive for Robotic Applications 12 Combinatorial Control Systems 13 Computational Algebra Support for the Chen-Fliess-Sussmann Differential Equation Part III. Control of Walking Robots 14 Biologically Inspired Motor Control for Underactuated Robots – Trends and Challenges 15 Adaptation of a Six-legged Walking Robot to Its Local Environment 16 Development of Two-legged Robot 17 Quadruped Walking Robot WR-06 – Design, Control and Sensor Subsystems 18 Population-based Methods for Identification and Optimization of a Walking Robot Model 19 Static Equilibrium Condition for a Multi-leg, Stairs Climbing Walking Robot Part IV. Compliant Motion and Manipulation 20 Human-aware Interaction Control of Robot Manipulators Based on Force and Vision 21 Specification of Multi-robot Controllers on an Example of a Haptic Device 22 Characterization of the Dynamical Model of a Force Sensor for Robot Manipulators 23 Inverse Kinematics for Object Manipulation with Redundant Multi-fingered Robotic Hands 24 Compliant Motion Control for Safe Human Robot Interaction Part V. Trajectory Planning Issues for Nonholonomic Systems 25 Nonholonomic Motion Planning of Mobile Robots 26 Minimum-time Velocity Planning with Arbitrary Boundary Conditions 27 Motion Planning for Highly Constrained Spaces 28 RRT-path – A Guided Rapidly Exploring Random Tree Part VI. New Trends in Localization Methods 29 Position Estimation Techniques for Mobile Robots 30 Particle Filtering with Range Data Association for Mobile Robot Localization in Environments with Repetitive Geometry 31 Observable Formulation SLAM Implementation 32 Estimation of Velocity Components Using Optical Flow and Inner Product Part VII. Sensors and New Challenges in Design of Modular Robots 33 Acoustic Coupling on the Robot Motion and Control 34 Design of a Planar High Precision Motion Stage 35 Hexa Platform as Active Environment System 36 A Modular Concept for a Biologically Inspired Robot 37 Control System for Designed Mobile Robot – Project, Implementation, and Tests 38 Team of Specialized Mobile Robots for Group Inspection of Large-area Technical Objects Part VIII. Applications of Robotic Systems 39 Muscle Test and Exercise System for Upper Limbs Using 3D Force Display Robot 40 Tests on Cardiosurgical Robot RobIn Heart 3 41 Ankle Robot for People with Drop Foot – Case Study 42 Evolution of a Useful Autonomous System 43 Obstacle Handling of the Holonomic-driven Interactive Behavior-operated Shopping Trolley InBOT -Index

Exemplaires

Code-barres	Cote	Support	Localisation	Section	Disponibilité	N.Inventaire
2625	25-08-34	Livre	Bibliothèque de Génie Electrique- USTO	Documentaires	Exclu du prêt	2625
1901	25-08-34	Livre	Bibliothèque de Génie Electrique- USTO	Documentaires	Exclu du prêt	1901