Control of Underactuated Mechanical Systems

Auteur
Ahmed Chemori CNRS, LIRMM received the M.Sc. and Ph.D. degrees both in automatic control from the Grenoble Institute of Technology, Grenoble, France, in 2001 and 2005, respectively. He has been a Postdoctoral Fellow with the Automatic Control Laboratory, Grenoble, France, in 2006. He is currently a tenured Research Scientist in automatic control and robotics with the Montpellier Laboratory of Informatics, Robotics and Microelectronics (LIRMM-CNRS). His research interests include nonlinear, robust , adaptive and predictive control and their real-time applications in complex robotic. Afef Hfaiedh received the master's degree in Automatic, Robotics and Signal Processing in 2015 from the National Engineering School of Carthage (ENICarthage). She is currently a doctor in Electrical Engineering, working as a part time professor at the University of Carthage, teaching
classes in mechatronics engineering. Her research interests include nonlinear, adaptive and sliding-mode control and their applications in robotic and nonlinear underactuated mechanical systems.

Texte du rabat
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.

Contenu

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