Liu PDE Modeling and Boundary Control for Flexible Mechanical System

1. Auflage 2020
ISBN: 978-981-15-2596-4
Verlag: Springer Nature Singapore
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 184 Seiten

Reihe: Springer Tracts in Mechanical Engineering

This book provides a comprehensive review of fundamental issues in the dynamical modeling and vibration control design for several flexible mechanical systems, such as flexible satellites, flexible aerial refueling hoses, and flexible three-dimensional manipulators. Offering an authoritative reference guide to the dynamics and control of flexible mechanical systems, it equips readers to solve a host of problems concerning these systems. It provides not only a complete overview of flexible systems, but also a better understanding of the technical levels involved. The book is divided into ten chapters: Chapters 1 and 2 lay the foundations, while the remaining chapters explore several independent yet related topics in detail. The book's final chapter presents conclusions and recommendations for future research.
Given its scope, the book is intended for researchers, graduate students, and engineers whose work involves control systems, flexible mechanical systems, and related areas.


Dr, Zhijie Liu received his B.S. degree at the School of Mechanical Electrical & Information Engineering, China University of Mining and Technology, Beijing in 2014, and his PhD at the School of Automation Science & Electrical Engineering, Beihang University, China in 2019. In 2017, he was a Research Assistant at the Department of Electrical Engineering, University of Notre Dame, for twelve months. His research interests include adaptive control, distributed parameter systems and intelligent control systems. He has published more than 10 research papers.Professor Jinkun Liu received his BS, MS and PhD degrees from Northeastern University, Shenyang, China, in 1989, 1994 and 1997, respectively. He was a Postdoctoral Fellow at Zhejiang University from 1997 to 1999, and is currently a Full Professor at Beijing University of Aeronautics and Astronautics. His research interests include intelligent control and sliding mode control, PDE modeling and boundary control, with applications in areas related to motion control, such as flight control and robotic control, etc. especially for under-actuated systems. He has published over 100 research papers and eight books.

Autoren/Hrsg.

Liu, Zhijie

Liu, Jinkun

Inhaltsverzeichnis

1;Preface;6
2;Acknowledgements;9
3;Contents;10
4;About the Authors;13
5;1 Introduction;14
5.1;1.1 Background and Motivation;14
5.2;1.2 Survey on Modeling and Control of Flexible Mechanical System;17
5.2.1;1.2.1 Main Research Methods of Flexible Mechanical Systems Based on PDEs;17
5.2.2;1.2.2 Control Design of Flexible Mechanical Systems;18
5.2.3;1.2.3 Typical Flexible Mechanical Systems;20
5.2.4;1.2.4 Engineering Design of Flexible Mechanical Systems;22
5.3;1.3 Outline of This Book;23
5.4;References;25
6;2 Mathematical Preliminaries;30
6.1;2.1 Basic PDE Models;30
6.2;2.2 Aerodynamic Forces;31
6.3;2.3 The Hamilton Principle;32
6.4;2.4 Separation of Variables;32
6.5;2.5 Useful Lemmas;34
6.5.1;2.5.1 Lyapunov's Direct Method;34
6.5.2;2.5.2 Barbalat's Lemma;35
6.5.3;2.5.3 Other Useful Lemmas;35
6.6;References;37
7;3 PDE Modeling and Basic Vibration Control for Flexible Satellite;38
7.1;3.1 Introduction;38
7.2;3.2 Problem Formulation;39
7.3;3.3 Control Design;42
7.4;3.4 Simulation;48
7.5;References;56
8;4 Boundary Control for Flexible Satellite with Input Constraint;57
8.1;4.1 Introduction;57
8.2;4.2 Problem Formulation;58
8.3;4.3 Boundary Control Design;59
8.4;4.4 Simulation;68
8.5;References;77
9;5 PDE Modeling and Basic Vibration Control for Flexible Aerial Refueling Hose;78
9.1;5.1 Introduction;78
9.2;5.2 Problem Formulation;79
9.3;5.3 Boundary Control Design;82
9.4;5.4 Simulation;84
9.5;References;95
10;6 Vibration Control of a Flexible Aerial Refueling Hose with Input Saturation;96
10.1;6.1 Introduction;96
10.2;6.2 Problem Formulation;97
10.3;6.3 Control Design;100
10.4;6.4 Simulation;104
10.5;References;113
11;7 Deadzone Compensation Based Boundary Control for Flexible Aerial Refueling Hose with Output Constraint;114
11.1;7.1 Introduction;114
11.2;7.2 Problem Formulation;115
11.3;7.3 Basic Control Design for Deadzone Compensation;117
11.4;7.4 Barrier Lyapunov Function (BLF) Based Control Design;120
11.5;7.5 Simulation;122
11.6;References;129
12;8 Modeling and Vibration Control of a Flexible Aerial Refueling Hose with Variable Lengths and Input Constraint;130
12.1;8.1 Introduction;130
12.2;8.2 Problem Formulation;131
12.3;8.3 Control Design;133
12.4;8.4 Stability Analysis;137
12.5;8.5 Simulation;141
12.6;References;147
13;9 Dynamic Modeling and Vibration Control for a Nonlinear Three-Dimensional Flexible Manipulator;148
13.1;9.1 Introduction;148
13.2;9.2 Problem Formulation;149
13.3;9.3 Control Design;154
13.4;9.4 Simulation;156
13.5;References;182
14;10 Conclusion;183