Andrew J. Kurdila - Böcker

Robust design—that is, managing design uncertainties such as model uncertainty or parametric uncertainty—is the often unpleasant issue crucial in much multidisciplinary optimal design work. Recently, there has been enormous practical interest in strategies for applying optimization tools to the development of robust solutions and designs in several areas, including aerodynamics, the integration of sensing (e.g., laser radars, vision-based systems, and millimeter-wave radars) and control, cooperative control with poorly modeled uncertainty, cascading failures in military and civilian applications, multi-mode seekers/sensor fusion, and data association problems and tracking systems. The contributions to this book explore these different strategies. The expression "optimization-directed” in this book’s title is meant to suggest that the focus is not agonizing over whether optimization strategies identify a true global optimum, but rather whether these strategies make significant design improvements.

FUNDAMENTALS OF STRUCTURAL DYNAMICS From theory and fundamentals to the latest advances in computational and experimental modal analysis, this is the definitive, updated reference on structural dynamics. This edition updates Professor Craig’s classic introduction to structural dynamics, which has been an invaluable resource for practicing engineers and a textbook for undergraduate and graduate courses in vibrations and/or structural dynamics. Along with comprehensive coverage of structural dynamics fundamentals, finite-element–based computational methods, and dynamic testing methods, this Second Edition includes new and expanded coverage of computational methods, as well as introductions to more advanced topics, including experimental modal analysis and “active structures.” With a systematic approach, it presents solution techniques that apply to various engineering disciplines. It discusses single degree-of-freedom (SDOF) systems, multiple degrees-of-freedom (MDOF) systems, and continuous systems in depth; and includes numeric evaluation of modes and frequency of MDOF systems; direct integration methods for dynamic response of SDOF systems and MDOF systems; and component mode synthesis. Numerous illustrative examples help engineers apply the techniques and methods to challenges they face in the real world. MATLAB® is extensively used throughout the book, and many of the .m-files are made available on the book’s Web site. Fundamentals of Structural Dynamics, Second Edition is an indispensable reference and “refresher course” for engineering professionals; and a textbook for seniors or graduate students in mechanical engineering, civil engineering, engineering mechanics, or aerospace engineering.

A thorough guide to the fundamental development of linear piezoelectricity for vibrations Vibrations of Linear Piezostructures is an introductory text that offers a concise examination of the general theory of vibrations of linear piezostructures. This important book brings together in one comprehensive volume the most current information on the theory for modeling and analysis of piezostructures.  The authors explore the fundamental principles of piezostructures, review the relevant mathematics, continuum mechanics and elasticity, and continuum electrodynamics as they are applied to electromechanical piezostructures, and include the work that pertains to linear constitutive laws of piezoelectricity.  The book addresses modeling of linear piezostructures via Newton’s approach and Variational Methods.  In addition, the authors explore the weak and strong forms of the equations of motion, Galerkin approximation methods for the weak form, Fourier or modal methods, and finite element methods. This important book:  Covers the fundamental developments to vibrational theory for linear piezostructures  Provides an introduction to continuum mechanics, elasticity, electrodynamics, variational calculus, and applied mathematics Offers in-depth coverage of Newton’s formulation of the equations of motion of vibrations of piezo-structures Discusses the variational methods for generation of equations of motion of piezo-structures Written for students, professionals, and researchers in the field, Vibrations of Linear Piezostructures is an up-to-date volume to the fundamental development of linear piezoelectricity for vibrations from initial development to fully modeled systems using various methods.

A comprehensive review of the principles and dynamics of robotic systemsDynamics and Control of Robotic Systems offers a systematic and thorough theoretical background for the study of the dynamics and control of robotic systems. The authors—noted experts in the field—highlight the underlying principles of dynamics and control that can be employed in a variety of contemporary applications. The book contains a detailed presentation of the precepts of robotics and provides methodologies that are relevant to realistic robotic systems. The robotic systems represented include wide range examples from classical industrial manipulators, humanoid robots to robotic surgical assistants, space vehicles, and computer controlled milling machines.The book puts the emphasis on the systematic application of the underlying principles and show how the computational and analytical tools such as MATLAB, Mathematica, and Maple enable students to focus on robotics’ principles and theory. Dynamics and Control of Robotic Systems contains an extensive collection of examples and problems and: Puts the focus on the fundamentals of kinematics and dynamics as applied to robotic systemsPresents the techniques of analytical mechanics of roboticsIncludes a review of advanced topics such as the recursive order N formulationContains a wide array of design and analysis problems for robotic systemsWritten for students of robotics, Dynamics and Control of Robotic Systems offers a comprehensive review of the underlying principles and methods of the science of robotics.

Robust design—that is, managing design uncertainties such as model uncertainty or parametric uncertainty—is the often unpleasant issue crucial in much multidisciplinary optimal design work. Recently, there has been enormous practical interest in strategies for applying optimization tools to the development of robust solutions and designs in several areas, including aerodynamics, the integration of sensing (e.g., laser radars, vision-based systems, and millimeter-wave radars) and control, cooperative control with poorly modeled uncertainty, cascading failures in military and civilian applications, multi-mode seekers/sensor fusion, and data association problems and tracking systems. The contributions to this book explore these different strategies. The expression "optimization-directed” in this book’s title is meant to suggest that the focus is not agonizing over whether optimization strategies identify a true global optimum, but rather whether these strategies make significant design improvements.

Data-Driven, Nonparametric, Adaptive Control Theory introduces a novel approach to the control of deterministic, nonlinear ordinary differential equations affected by uncertainties. The methods proposed enforce satisfactory trajectory tracking despite functional uncertainties in the plant model. The book employs the properties of reproducing kernel Hilbert (native) spaces to characterize both the functional space of uncertainties and the controller's performance. Classical control systems are extended to broader classes of problems and more informative characterizations of the controllers’ performances are attained.Following an examination of how backstepping control and robust control Lyapunov functions can be ported to the native setting, numerous extensions of the model reference adaptive control framework are considered. The authors’ approach breaks away from classical paradigms in which uncertain nonlinearities are parameterized using a regressor vector provided a priori or reconstructed online. The problem of distributing the kernel functions that characterize the native space is addressed at length by employing data-driven methods in deterministic and stochastic settings.The first part of this book is a self-contained resource, systematically presenting elements of real analysis, functional analysis, and native space theory. The second part is an exposition of the theory of nonparametric control systems design. The text may be used as a self-study book for researchers and practitioners and as a reference for graduate courses in advanced control systems design. MATLAB® codes, available on the authors’ website, and suggestions for homework assignments help readers appreciate the implementation of the theoretical results.