Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems

Jiangshuai Huang, Yong-Duan Song

December 29, 2017 by CRC Press
Reference - 244 Pages
ISBN 9781138089020 - CAT# K34790
Series: Automation and Control Engineering

USD$149.95

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Features

  • Explores adaptive control and output feedback control of the underactuated systems.
  • Covers actuator failure, with or without actuator redundancy, of adaptive control of the underactuated systems.
  • Discusses flocking and formation control.

Summary

The purpose of the book is to provide an exposition of recently developed adaptive and fault-tolerant control of underactuated nonlinear systems. Underactuated systems are abundant in real life, ranging from landing vehicles to surface ships and underwater vehicles to spacecrafts. For the tracking and stabilization control of underactuated mechanical systems, many methodologies have been proposed. However, a number of important issues deserve further investigation. In response to these issues, four important problems are solved in this book, including control of underactuated nonlinear systems with input saturation, output-feedback control in the presence of parametric uncertainties, fault-tolerant control of underactuated ships with or without actuator redundancy, and adaptive control of multiple underactauted nonlinear systems, including formation control and flocking control of multiple underactuated systems.

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