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© 1998

Passivity-based Control of Euler-Lagrange Systems

Mechanical, Electrical and Electromechanical Applications

  • Passivity-based Control is highly topical within control engineering at the present time Bridges the gap between theory and practice in control of certain passive systems Its mathematical yet elementary approach will appeal to a wide-ranging audience

Book

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

  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

About the authors

Romeo Ortega obtained the Docteur D`Etat from the Polytechnical Institute of Grenoble, France in 1984 . He then joined the National University of Mexico, where he worked until 1989. He was a Visiting Professor at the University of Illinois, USA, in 1987-88 and at McGill University, Canada, in 1991-1992, and a Fellow of the Japan Society for Promotion of Science in 1990-1991. Currently he is in the Laboratoire des Signaux et Systèmes of Supélec in Gif-sur-Yvette, France, where he holds a position of Directeur de Recherche from the CNRS. His research interests are in the fields of nonlinear and adaptive control with special emphasis on applications. He is a co-author of the Springer-Verlag book Nonlinear Adaptive Control Design and Applications, and has published more than 100 scientific papers in international journals. Dr Ortega has been the chairman of the IEEE Working Group on Adaptive Control and Systems Identification, of the IFAC Technical Committee on Adaptive Control and Tuning and of the Automatica Paper Prize Award Committee. He has served as Associate Editor for various scientific journals. Dr Ortega is a member of the IFAC Technical Board and a Fellow of the IEEE.

Antonio Loría has been a research fellow at the University of Twente, NTNU Norway and UCSB, California. Currently, he has a tenure position as Associate Researcher with the National Centre for Scientific Research (CNRS), France. He is author of more than seventy scientific journal and conference papers as well as four book chapters in control theory; of these publications, more than 20 are on robot control. He is co-author of Control of Robot Manipulators in Joint Space by R. Kelly, V. Santibáñez and A. Loría, (1-85233-994-2).

Hebertt Sira-Ramirez has published his work in 4 books, 20 book chapters, many of them in Springer-Verlag volumes, 114 journal publications in credited, refereed, journals and over 192 specialized international conferences. He obtained his MSEE and his PhD, both from the Massachusetts Institute of Technology (Cambridge, USA) in 1972 and 1977, respectively. He worked as a professor, and researcher, for 28 years at the Universidad de Los Andes in Merida, Venezuela, and has worked for the last 7 years in a Scientific Research Institute in Mexico City (Cinvestav-IPN). He is a member of the IFAC Technical Committee on Non-Linear Control Systems.

Bibliographic information

  • Book Title Passivity-based Control of Euler-Lagrange Systems
  • Book Subtitle Mechanical, Electrical and Electromechanical Applications
  • Authors Romeo Ortega
    Julio Antonio Loría Perez
    Per Johan Nicklasson
    Hebertt J. Sira-Ramirez
  • Series Title Communications and Control Engineering
  • 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
  • Hardcover ISBN 978-1-85233-016-3
  • Softcover ISBN 978-1-84996-852-2
  • eBook ISBN 978-1-4471-3603-3
  • Series ISSN 0178-5354
  • Edition Number 1
  • Number of Pages XXXIV, 543
  • Number of Illustrations 160 b/w illustrations, 0 illustrations in colour
  • Topics Control and Systems Theory
    Control, Robotics, Mechatronics
    Mechanical Engineering
  • Buy this book on publisher's site
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Reviews

From the reviews:

We highly recommend Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications for bot the researcher interested in advanced passivity-based control techniques and the engineer seeking experimentally proven techniques. The pedagogical style of the authors lend to the readability and the flow of knowledge to the reader; hence, this text lends itself to classroom use as a graduate level text in passivity-based control.

Automatica 36 (2000) 1389 – 1391 (Reviewers: Warren E. Dixon and Darren M. Dawson)

 

…an attractive reference book for research and development engineers who are interested in modern methods of control theory. Also, can be used for advanced senior-level course in university.

IEEE Industrial Electronics Society Newsletter June (2001) 12 (Reviewer: Marian P. Kazmierkowsi)