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Passivity-based Control of Euler-Lagrange Systems

Mechanical, Electrical and Electromechanical Applications

  • Romeo Ortega
  • Antonio Loría
  • Per Johan Nicklasson
  • Hebertt Sira-Ramírez

Part of the Communications and Control Engineering book series (CCE)

Table of contents

  1. Front Matter
    Pages i-xxxiv
  2. Introduction

    1. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 1-13
  3. Euler-Lagrange systems

    1. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 15-37
  4. Mechanical Systems

    1. Front Matter
      Pages 39-39
    2. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 41-91
    3. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 93-113
    4. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 115-132
  5. Electrical systems

    1. Front Matter
      Pages 133-133
    2. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 135-180
    3. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 181-239
  6. Electromechanical systems

    1. Front Matter
      Pages 241-241
    2. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 243-263
    3. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 265-309
    4. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 311-380
    5. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 381-439
    6. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 441-465
    7. Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez
      Pages 467-474
  7. Back Matter
    Pages 475-543

About this book

Introduction

New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. Unfortunately, the existing theory for general nonlinear systems cannot successfully deal with them. This book, which summarises the experience of the authors on control engineering applications over the past ten years aims to overcome this drawback by:

• Giving back to modelling the central role that it deserves, and focusing on the structural aspects that can be exploited for the controller design.

• Formalising mathematically current engineering practice, which is usually developed from practical experience and considerations, as opposed to theoretical analysis.

• Proposing new control laws that sometimes are viewed as "upgrades" to the existing schemes.

• Experimental validation, that confronts the new schemes with other theoretical studies or with industrial controllers.

The fundamental concept of passivity and the perspective of control as a suitable interconnection of the system with its environment are key ingredients in all the developments of the book, which is primarily aimed at control-orientated graduate students and researchers, but which will also have value for both practising engineers and those concerned with the more theoretical side of the subject.

 

The Communications and Control Engineering series reflects the major technological advances which have a great impact in the fields of communication and control. It reports on the research in industrial and academic institutions around the world to exploit the new possibilities which are becoming available.

Keywords

Control Control Theory Euler-Lagrange Systems Modelling Motor Nonlinear Systems Passive Systems Passivity-based Control Tracking control engineering modeling robot

Authors and affiliations

  • Romeo Ortega
    • 1
  • Antonio Loría
    • 2
  • Per Johan Nicklasson
    • 3
  • Hebertt Sira-Ramírez
    • 4
  1. 1.Laboratoire des Signaux et SystèmesUMR CNRS 014Gif-sur-YvetteFrance
  2. 2.Electrical and Computer Engineering DepartmentUniversity of CaliforniaSanta BarbaraUSA
  3. 3.SINTEF Electronics and CyberneticsTrondheimNorway
  4. 4.Departamento Sistemas de Control, Escuela de Ingenieria de SistemasUniversidad de los AndesMeridaVenezuela

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4471-3603-3
  • Copyright Information Springer-Verlag London 1998
  • Publisher Name Springer, London
  • eBook Packages Springer Book Archive
  • Print ISBN 978-1-84996-852-2
  • Online ISBN 978-1-4471-3603-3
  • Series Print ISSN 0178-5354
  • Buy this book on publisher's site
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