Rafael Iriarte – författare

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6 produkter

Inverted Pendulum in Control Theory and Robotics
From theory to new innovations
AvOlfa, Boubaker,Olfa Boubakerm. fl.
Inbunden, Engelska, 2017
1 672 kr
Skickas inom 5-8 vardagar
The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. It is also an area of active study, with many new innovations and applications - for example the problem is solved in the technology of the Segway, a self-balancing transportation device.This book provides an overall picture of historical and current trends and developments in nonlinear control theory, based on the simple structure and rich nonlinear model of the inverted pendulum. After an introduction to the system and open/current problems, the book covers the topic in four parts: applications of robust state estimation and control to pendulum-cart systems; controllers for under-actuated mechanical systems; nonlinear controllers for mobile inverted pendulum systems; and robust controllers based observers via Takagi-Sugeno or linear approaches.With contributions from international researchers in the field, The Inverted Pendulum in Control Theory and Robotics is essential reading for researchers, scientists, engineers and students in the field of control theory, robotics and nonlinear systems.
Self-Oscillations in Dynamic Systems
A New Methodology via Two-Relay Controllers
AvLuis T. Aguilar,Igor Boikom. fl.
Inbunden, Engelska, 2015
549 kr
Skickas inom 10-15 vardagar
This monograph presents a simple and efficient two-relay control algorithm for generation of self-excited oscillations of a desired amplitude and frequency in dynamic systems. Developed by the authors, the two-relay controller consists of two relays switched by the feedback received from a linear or nonlinear system, and represents a new approach to the self-generation of periodic motions in underactuated mechanical systems.The first part of the book explains the design procedures for two-relay control using three different methodologies – the describing-function method, Poincaré maps, and the locus-of-a perturbed-relay-system method – and concludes with stability analysis of designed periodic oscillations.Two methods to ensure the robustness of two-relay control algorithms are explored in the second part, one based on the combination of the high-order sliding mode controller and backstepping, and the other on higher-order sliding-modes-based reconstruction of uncertainties and their compensation where Lyapunov-based stability analysis of tracking error is used. Finally, the third part illustrates applications of self-oscillation generation by a two-relay control with a Furuta pendulum, wheel pendulum, 3-DOF underactuated robot, 3-DOF laboratory helicopter, and fixed-phase electronic circuits.Self-Oscillations in Dynamic Systems will appeal to engineers, researchers, and graduate students working on the tracking and self-generation of periodic motion of electromechanical systems, including non-minimum-phase systems. It will also be of interest to mathematicians working on analysis of periodic solutions.
Self-Oscillations in Dynamic Systems
A New Methodology via Two-Relay Controllers
AvRafael Iriarte,Leonid Fridmanm. fl.
E-bok
PDF, Engelska, 2015
712 kr
Läs direkt efter köp
This monograph presents a simple and efficient two-relay control algorithm for generation of self-excited oscillations of a desired amplitude and frequency in dynamic systems. Developed by the authors, the two-relay controller consists of two relays switched by the feedback received from a linear or nonlinear system, and represents a new approach to the self-generation of periodic motions in underactuated mechanical systems.
The first part of the book explains the design procedures for two-relay control using three different methodologies – the describing-function method, Poincaré maps, and the locus-of-a perturbed-relay-system method – and concludes with stability analysis of designed periodic oscillations.
Two methods to ensure the robustness of two-relay control algorithms are explored in the second part, one based on the combination of the high-order sliding mode controller and backstepping, and the other on higher-order sliding-modes-based reconstruction of uncertainties and their compensation where Lyapunov-based stability analysis of tracking error is used. Finally, the third part illustrates applications of self-oscillation generation by a two-relay control with a Furuta pendulum, wheel pendulum, 3-DOF underactuated robot, 3-DOF laboratory helicopter, and fixed-phase electronic circuits.
Self-Oscillations in Dynamic Systems will appeal to engineers, researchers, and graduate students working on the tracking and self-generation of periodic motion of electromechanical systems, including non-minimum-phase systems. It will also be of interest to mathematicians working on analysis of periodic solutions.
Self-Oscillations in Dynamic Systems
A New Methodology via Two-Relay Controllers
AvLuis T. Aguilar,Igor Boikom. fl.
Häftad, Engelska, 2016
549 kr
Skickas inom 10-15 vardagar
This monograph presents a simple and efficient two-relay control algorithm for generation of self-excited oscillations of a desired amplitude and frequency in dynamic systems. Developed by the authors, the two-relay controller consists of two relays switched by the feedback received from a linear or nonlinear system, and represents a new approach to the self-generation of periodic motions in underactuated mechanical systems.The first part of the book explains the design procedures for two-relay control using three different methodologies – the describing-function method, Poincaré maps, and the locus-of-a perturbed-relay-system method – and concludes with stability analysis of designed periodic oscillations.Two methods to ensure the robustness of two-relay control algorithms are explored in the second part, one based on the combination of the high-order sliding mode controller and backstepping, and the other on higher-order sliding-modes-based reconstruction of uncertainties and their compensation where Lyapunov-based stability analysis of tracking error is used. Finally, the third part illustrates applications of self-oscillation generation by a two-relay control with a Furuta pendulum, wheel pendulum, 3-DOF underactuated robot, 3-DOF laboratory helicopter, and fixed-phase electronic circuits.Self-Oscillations in Dynamic Systems will appeal to engineers, researchers, and graduate students working on the tracking and self-generation of periodic motion of electromechanical systems, including non-minimum-phase systems. It will also be of interest to mathematicians working on analysis of periodic solutions.
Del 412 - Lecture Notes in Control and Information Sciences
Sliding Modes after the first Decade of the 21st Century
State of the Art
AvLeonid Fridman,Jaime Morenom. fl.
Häftad, Engelska, 2011
1 634 kr
Skickas inom 10-15 vardagar
The book presents the newest results of the major world research groups working in the area of Variable Structure Systems and Sliding Mode Control (VSS/SMC). The research activity of these groups is coordinated by the IEEE Technical Committee on Variable Structure Systems (VSS) and Sliding Modes (SM). The presented results include the reports of the research groups collaborating in a framework of the Unión European Union – México project of Fondo de Cooperación Internacional en Ciencia y Tecnología (FONCICyT) 93302 titled "Automatization and Monitoring of Energy Production Processes via Sliding Mode Control".The book starts with the overview of the sliding mode control concepts and algorithms that were developed and discussed in the last two decades The research papers are combined in three sections:Part I: VSS and SM Algorithms and their AnalysisPart II: SMC DesignPart III: Applications of VSS and SMCThe book will be of interests of engineers, researchers and graduate students working in the area of the control systems design. Novel mathematical theories and engineering concepts of control systems are rigorously discussed and supported by numerous applications to practical tasks.
Sliding Modes after the first Decade of the 21st Century
State of the Art
AvRafael Iriarte,Jaime Morenom. fl.
E-bok
PDF, Engelska, 2011
2 044 kr
Läs direkt efter köp
The book presents the newest results of the major world research groups working in the area of Variable Structure Systems and Sliding Mode Control (VSS/SMC). The research activity of these groups is coordinated by the IEEE Technical Committee on Variable Structure Systems (VSS) and Sliding Modes (SM). The presented results include the reports of the research groups collaborating in a framework of the Unión European Union – México project of Fondo de Cooperación Internacional en Ciencia y Tecnología (FONCICyT) 93302 titled "Automatization and Monitoring of Energy Production Processes via Sliding Mode Control".
The book starts with the overview of the sliding mode control concepts and algorithms that were developed and discussed in the last two decades The research papers are combined in three sections:
Part I: VSS and SM Algorithms and their Analysis
Part II: SMC Design
Part III: Applications of VSS and SMC
The book will be of interests of engineers, researchers and graduate students working in the area of the control systems design. Novel mathematical theories and engineering concepts of control systems are rigorously discussed and supported by numerous applications to practical tasks.

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Rafael Iriarte – författare

Inverted Pendulum in Control Theory and Robotics

Self-Oscillations in Dynamic Systems

Self-Oscillations in Dynamic Systems

Self-Oscillations in Dynamic Systems

Sliding Modes after the first Decade of the 21st Century

Sliding Modes after the first Decade of the 21st Century

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