Henk Nijmeijer - Böcker

This book has recently been  retypeset in LaTeX for clearer presentation.This textbook on the differential geometric approach to nonlinear control grew out of a set of lecture notes, which were prepared for a course on nonlinear system theory, given by us for the first time during the fall semester of 1988. The audience consisted mostly of graduate students , taking part in the Dutch national Graduate Program on Systems and Control.The course gives a general introduction to modern nonlinear control theory (with an emphasis on the differential geometric approach), as well as providing students specializing in nonlinear control theory with a firm starting point for doing research in this area. One of the authors' primary objectives is to give a self-contained treatment of all the topics covered. Although the amount of work published on nonlinear geometric control theory is expanding rapidly expanding, the authors confine themselves to treating solid and clear-cut achievements of modern nonlinear control, which can be expected to be of remaining interest. The final selection of topics reflects the authors' own judgement of their importance.

The problem of asymptotic regulation of the output of a dynamical system plays a central role in control theory. An important variant of this problem is the output regulation problem, which can be used in areas such as s- point control, tracking reference signals and rejecting disturbances generated by an external system, controlled synchronization of dynamical systems, and observer design for autonomous systems. At the moment this is a hot topic in nonlinear control. This book is a result of a four-year research project conducted at the Eindhoven University of Technology. This project, entitled “Robust output regulation for complex dynamical systems,” began with the observation that theproblemofcontrolledsynchronizationofdynamicalsystemscanbecons- ered as a particular case of the output regulation problem. In the beginning of the project, known solutions to the controlled synchronization problem were global and dealt with nonlinear systems having complex (“chaotic”) dyn- ics. At the same time, most of the existing solutions to the nonlinear output regulation problem were local and dealt mostly with exosystems being linear harmonicoscillators. Ourinitialideawas,usingtheresultsfromthecontrolled synchronization problem as a starting point, to extend solutions of the n- linear output regulation problem from the local case to the global case and to avoid restrictive assumptions on the exosystem. As a ?rst step, we started looking for points that were common to these two problems.

This book has recently been  retypeset in LaTeX for clearer presentation.This textbook on the differential geometric approach to nonlinear control grew out of a set of lecture notes, which were prepared for a course on nonlinear system theory, given by us for the first time during the fall semester of 1988. The audience consisted mostly of graduate students , taking part in the Dutch national Graduate Program on Systems and Control.The course gives a general introduction to modern nonlinear control theory (with an emphasis on the differential geometric approach), as well as providing students specializing in nonlinear control theory with a firm starting point for doing research in this area. One of the authors' primary objectives is to give a self-contained treatment of all the topics covered. Although the amount of work published on nonlinear geometric control theory is expanding rapidly expanding, the authors confine themselves to treating solid and clear-cut achievements of modern nonlinear control, which can be expected to be of remaining interest. The final selection of topics reflects the authors' own judgement of their importance.

Parametric Resonance in Dynamical Systems discusses the phenomenon of parametric resonance and its occurrence in mechanical systems, vehicles, motorcycles, aircraft and marine craft, along micro-electro-mechanical systems. The contributors provides an introduction to the root causes of this phenomenon and its mathematical equivalent, the Mathieu-Hill equation. Also included is a discussion of how parametric resonance occurs on ships and offshore systems, and its frequency in mechanical and electrical systems. This volume is ideal for researchers and mechanical engineers working in application fields such as MEMS, maritime, aircraft and ground vehicle engineering.

Parametric Resonance in Dynamical Systems discusses the phenomenon of parametric resonance and its occurrence in mechanical systems, vehicles, motorcycles, aircraft and marine craft, along micro-electro-mechanical systems. The contributors provides an introduction to the root causes of this phenomenon and its mathematical equivalent, the Mathieu-Hill equation. Also included is a discussion of how parametric resonance occurs on ships and offshore systems, and its frequency in mechanical and electrical systems. This volume is ideal for researchers and mechanical engineers working in application fields such as MEMS, maritime, aircraft and ground vehicle engineering.

Observers for nonlinear systems are relevant in different contexts such as synchronization of complex dynamical systems, fault detection and isolation, and output feedback control. These are the contributions presented at the workshop "New Directions in Nonlinear Observer Design", held from June 24-26, 1999, in Geiranger Fjord, Norway. The workshop has been organised by Olav Egeland, Thor I. Fossen and Henk Nijmeijer. It includes participants from Africa, Asia, Europe and USA and focuses on developments in the above-mentioned areas. The contributions form a review of present achievements and challenges in nonlinear observer design. The workshop is supported by the Strategic University Program on Marine Cybernetics at the Norwegian University of Science and Technology and ABB.

The book focuses the latest endeavors relating researches and developments conducted in fields of control, robotics, and automation. Through more than ten revised and extended articles, the present book aims to provide the most up-to-date state of the art of the aforementioned fields allowing researcher, Ph.D. students, and engineers not only updating their knowledge but also benefiting from the source of inspiration that represents the set of selected articles of the book.The deliberate intention of editors to cover as well theoretical facets of those fields as their practical accomplishments and implementations offers the benefit of gathering in a same book a factual and well-balanced prospect of nowadays research in those topics. A special attention toward “Intelligent Robots and Control” may characterize another benefit of this book.

The book focuses the latest endeavors relating researches and developments conducted in fields of control, robotics, and automation. Through more than ten revised and extended articles, the present book aims to provide the most up-to-date state of the art of the aforementioned fields allowing researcher, Ph.D. students, and engineers not only updating their knowledge but also benefiting from the source of inspiration that represents the set of selected articles of the book.The deliberate intention of editors to cover as well theoretical facets of those fields as their practical accomplishments and implementations offers the benefit of gathering in a same book a factual and well-balanced prospect of nowadays research in those topics. A special attention toward “Intelligent Robots and Control” may characterize another benefit of this book.

The book focuses the latest endeavors relating researches and developments conducted in fields of control, robotics, and automation. Through ten revised and extended articles, the present book aims to provide the most up-to-date state-of-the-art of the aforementioned fields allowing researcher, Ph.D. students, and engineers not only updating their knowledge but also benefiting from the source of inspiration that represents the set of selected articles of the book.The deliberate intention of editors to cover as well theoretical facets of those fields as their practical accomplishments and implementations offers the benefit of gathering in a same volume a factual and well-balanced prospect of nowadays research in those topics. A special attention toward “Intelligent Robots and Control” may characterize another benefit of this book.

This book focuses on the latest endeavors relating researches and developments conducted in fields of control, robotics, and automation. Through 18 revised and extended articles, the present book aims to provide the most up-to-date state of the art of the aforementioned fields allowing researcher, Ph.D. students, and engineers not only updating their knowledge but also benefiting from the source of inspiration that represents the set of selected articles of the book. The book presents revised selected papers from the 20th International Conference, ICINCO 2023 Rome, Italy, held on November 13-15, 2023.The deliberate intention of editors to cover as well theoretical facets of those fields as their practical accomplishments and implementations offers the benefit of gathering in a same book a factual and well-balanced prospect of nowadays research in those topics.

This book introduces the hybrid integrator-gain system (HIGS) as a promising approach for overcoming fundamental limitations of linear time-invariant (LTI) control systems. These limitations pose significant challenges in meeting the ever-increasing demands for accuracy, speed and reliability in high-precision positioning systems, including wafer scanners and other advanced mechatronic platforms. The working principle of the HIGS relies on switching dynamics that avoid hard state resets and produce continuous control signals, resulting in phase advantages over LTI integrators and offering practical performance benefits. Hybrid Integrator-Gain Systems contributes a comprehensive set of practical tools for the design and analysis of HIGS-based controllers with the aim of enabling substantial performance improvements beyond what is achievable with conventional LTI control. The material is organized into three parts:Part I formally introduces the concept of the HIGS and uses numerical examples to demonstrate that genuine performance advantages over LTI control can be achieved;Part II develops rigorous time- and frequency-domain tools for analysing robust stability and performance of feedback interconnections between LTI plants and HIGS-based controllers, addressing the challenges in closed-loop analysis and design introduced by the hybrid nature of these systems; andPart III focuses on practical design considerations and experimental validation of HIGS-based controllers applied to LTI systems.Hybrid Integrator-Gain Systems presents a framework for the design and analysis of HIGS-based control architectures for LTI systems. It demonstrates how appropriately designed HIGS controllers can push the performance of high-tech systems to levels unattainable with purely LTI approaches. Researchers and practitioners working in high-precision motion control, hybrid and switched control and related fields will find this book of considerable interest for its potential to advance control performance.

This book provides a comprehensive and rigorous framework for the emerging field of soft robotics, addressing key challenges at the intersection of design, modeling, and control. Moving beyond traditional rigid-body paradigms, it explores how compliant materials enable new capabilities in dexterity, adaptability, and safe interaction, while simultaneously introducing significant theoretical and practical complexities.The volume presents a unified, multidisciplinary framework that integrates continuum mechanics, optimization, and control theory to systematically tackle the challenges of this rapidly evolving field. It introduces novel methodologies for the automated design and fabrication of soft actuators, advanced reduced-order modeling techniques grounded in differential geometry, and efficient model-based control strategies tailored to highly deformable robotic systems.Bridging theory and practice, the book demonstrates how these tools can be applied to real-world soft robotic platforms, including continuum manipulators and grippers inspired by biological systems. Experimental validation complements the theoretical developments, highlighting the feasibility of achieving both computational efficiency and control performance in soft robotic systems. By consolidating recent advances into a coherent framework, this work serves as both a reference and a foundation for future research, making it an essential resource for researchers, engineers, and graduate students working in the field of soft robotics.

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles.

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles.

This monograph combines the knowledge of both the field of nonlinear dynamics and non-smooth mechanics, presenting a framework for a class of non-smooth mechanical systems using techniques from both fields. The book reviews recent developments, and opens the field to the nonlinear dynamics community. This book addresses researchers and graduate students in engineering and mathematics interested in the modelling, simulation and dynamics of non-smooth systems and nonlinear dynamics.

Group coordination and cooperative control are topics currently receiving a lot of interest. Coordinating the motion of a group of relatively simple and inexpensive agents can cover a larger operational area and achieve complex tasks exceeding the abilities of a single agent. This enables applications such as teams of robots for de-mining operations, aerospace formation flying for survey, fleets of AUVs for oceanographic mapping, and ships doing coordinated towing operations.Inspired by the progress in the field, a Workshop on Group Coordination and Cooperative Control was organised in Tromsø, Norway, 2006. The objective was to focus on control theoretic challenges that group coordination and cooperation raise, and lay the ground for future research on this. The presentations included recent results and discussions of theoretical challenges, industrial needs, unresolved problems and future research directions. This volume contains the contributions of the workshop. The book covers a wide range of subjects within the area of group coordination and cooperative control, and forms a valuable and up-to-date text on the newer trends in group coordination and cooperative control.

This monograph combines the knowledge of both the field of nonlinear dynamics and non-smooth mechanics, presenting a framework for a class of non-smooth mechanical systems using techniques from both fields. The book reviews recent developments, and opens the field to the nonlinear dynamics community. This book addresses researchers and graduate students in engineering and mathematics interested in the modelling, simulation and dynamics of non-smooth systems and nonlinear dynamics.

The main goal of this book is to prove analytically and validate experimentally that synchronization in multi-composed mechanical systems can be achieved in the case of partial knowledge of the state vector of the systems, i.e. when only positions are measured. For this purpose, synchronization schemes based on interconnections between the systems, feedback controllers and observers are proposed.Because mechanical systems include a large variety of systems, and since it is impossible to address all of them, the book focuses on robot manipulators. Nonetheless the ideas developed here can be extended to other mechanical systems, such as mobile robots, motors and generators.

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.