Rogelio Lozano - Böcker

Thoroughly revised and updated, this second edition of Adaptive Control covers new developments in the field, including multi-model adaptive control with switching, direct and indirect adaptive regulation, and adaptive feedforward disturbance compensation.

Ad ap tive Contro l provid es tec hniques for aut omatic adjustment in real t ime of cont roller parameter s in order to achieve or to maintain a desired level for the performance of cont rol systems when the dyn amic param et ers of t he process are unknown and/or var y in time. These techniques have as a main feature t he abilit y to ext ract significant information from real dat a in ord er to tune the cont roller and they feature a me chanism for adjust ing parameter s (of a plant model or of a cont roller). While the history of Adaptive Control is lon g, significant progr ess in under - standing and applying Adaptive Con trol began in the early sevent ies. The growing availability of digital com puters have also contributed to the devel- opment of the field . The earlier applicat ions in the sevent ies and beginning of the eight ies, provided important feedback for the development of the field . Theoretical developments allowed a number of basic problems to be solved . The aim of this book is to provide a coherent and comprehensive treatment of the field .The presentation takes the read er from the basic problem formu- lation to the analytical solutions who se prac tical significance is illustrated by applications.

This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

Adaptive Control (second edition) shows how a desired level of system performance can be maintained automatically and in real time, even when process or disturbance parameters are unknown and variable. It is a coherent exposition of the many aspects of this field, setting out the problems to be addressed and moving on to solutions, their practical significance and their application. Discrete-time aspects of adaptive control are emphasized to reflect the importance of digital computers in the application of the ideas presented. The second edition is thoroughly revised to throw light on recent developments in theory and applications with new chapters on: multimodel adaptive control with switching, direct and indirect adaptive regulation and adaptive feedforward disturbance compensation. Many algorithms are newly presented in MATLAB® m-file format to facilitate their employment in real systems. Classroom-tested slides for instructors to use in teaching this material are also now provided. All of this supplementary electronic material can be downloaded from fill in URL. The core material is also up-dated and re-edited to keep its perspective in line with modern ideas and more closely to associate algorithms with their applications giving the reader a solid grounding in: synthesis and analysis of parameter adaptation algorithms, recursive plant model identification in open and closed loop, robust digital control for adaptive control; • robust parameter adaptation algorithms, practical considerations and applications, including flexible transmission systems, active vibration control and broadband disturbance rejection and a supplementary introduction on hot dip galvanizing and a phosphate drying furnace. Control researchers and applied mathematicians will find Adaptive Control of significant and enduring interest and its use of example and application will appeal to practitioners working with unknown- and variable-parameter plant. Praise for the first edition:…well written, interesting and easy to follow, so that it constitutes a valuable addition to the monographies in adaptive control for discrete-time linear systems… suitable (at least in part) for use in graduate courses in adaptive control.

Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter.

Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter.

Dissipative Systems Analysis and Control (second edition) presents a fully revised and expanded treatment of dissipative systems theory, constituting a self-contained, advanced introduction for graduate students, researchers and practising engineers.

This book presents the basic tools required to obtain the dynamical models for aerial vehicles (in the Newtonian or Lagrangian approach). Several control laws are presented for mini-helicopters, quadrotors, mini-blimps, flapping-wing aerial vehicles, planes, etc. Finally, this book has two chapters devoted to embedded control systems and Kalman filters applied for aerial vehicles control and navigation. This book presents the state of the art in the area of UAVs. The aerodynamical models of different configurations are presented in detail as well as the control strategies which are validated in experimental platforms.

In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications.This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible.Several novel methods are presented:- controllability and observability of multi-agent systems;- robust consensus;- flight formation control;- stability of formations over noisy networks;which generate solutions of guaranteed performance for UAV Flight Formation.Contents1. Introduction, J.A. Guerrero.2. Theoretical Preliminaries, J.A. Guerrero.3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra.4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero.5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra.6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano.7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero.8. Formation Based on Potential Functions, L. García, A. Dzul.9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo.10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano.11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano.12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo.13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias.14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.

Modelling and Control of Mini-Flying Machines is an exposition of models developed to assist in the motion control of various types of mini-aircraft: / Planar Vertical Take-off and Landing aircraft; / helicopters; / quadrotor mini-rotorcraft; / other fixed-wing aircraft; / blimps. For each of these it propounds: / detailed models derived from Euler-Lagrange methods; / appropriate nonlinear control strategies and convergence properties; / real-time experimental comparisons of the performance of control algorithms; / review of the principal sensors, on-board electronics, real-time architecture and communications systems for mini-flying machine control, including discussion of their performance; / detailed explanation of the use of the Kalman filter to flying machine localization. To researchers and students in nonlinear control and its applications Modelling and Control of Mini-Flying Machines provides valuable insights to the application of real-time nonlinear techniques in an always challenging area.

This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

Modelling and Control of Mini-Flying Machines is an exposition of models developed to assist in the motion control of various types of mini-aircraft:? Planar Vertical Take-off and Landing aircraft;? helicopters; - quadrotor mini-rotorcraft; - other fixed-wing aircraft; - blimps. For each of these it propounds: - detailed models derived from Euler-Lagrange methods; - appropriate nonlinear control strategies and convergence properties;? real-time experimental comparisons of the performance of control algorithms;? review of the principal sensors, on-board electronics, real-time architecture and communications systems for mini-flying machine control, including discussion of their performance;? detailed explanation of the use of the Kalman filter to flying machine localization. To researchers and students in nonlinear control and its applications Modelling and Control of Mini-Flying Machines provides valuable insights to the application of real-time nonlinear techniques in an always challenging area.

The third edition of the now standard Dissipative Systems Analysis and Control presents a revised and expanded treatment of dissipative systems theory, constituting a self-contained, advanced introduction for graduate students, researchers and practising engineers. It examines linear, nonlinear and nonsmooth systems, with many examples in each chapter; occasional infinite-dimensional examples are also included. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable and robust feedback control laws or state observers. The theory is substantiated by experimental results and by reference to its application in illustrative physical cases (Lagrangian systems, passivity-based and adaptive controllers are covered thoroughly).The third edition is substantially updated to accommodate new material within the existing chapter structure. The additions include:· the introduction of negative imaginary transfer functions;· the design of stable state observers that use passivity as a tool for their stability analysis;· a new section on robust set-valued control of uncertain Lagrangian systems;· extended section on discrete-time systems, especially the preservation of dissipativity after discretization;. a thorough treatment of nonsmooth set-valued Lur'e systems well-posednees and stability;. an extended chapter on the Kalman–Yakubovich–Popov Lemma; and. over 1000 references.

The third edition of the now standard Dissipative Systems Analysis and Control presents a revised and expanded treatment of dissipative systems theory, constituting a self-contained, advanced introduction for graduate students, researchers and practising engineers.