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  • Lecture07a-Intro Part 2

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    Chernet Tuge
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    This document outlines the topics that will be covered in Part 2 of the lecture series. Lecture 9 will introduce discontinuous dynamics and examples. Lecture 10 will cover variable structure control basics. Lecture 11 will discuss mechanical systems. Lecture 12 will focus on electrical machines. Lecture 13 will regulate disturbances using variable structure control. Lecture 14 will examine switched/hybrid systems. The challenge problem asks students to design a feedback controller to steer a robot to a target state space position.

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    Introduction to part 2

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    This document outlines the topics that will be covered in Part 2 of the lecture series. Lecture 9 will introduce discontinuous dynamics and examples. Lecture 10 will cover variable structure control basics. Lecture 11 will discuss mechanical systems. Lecture 12 will focus on electrical machines. Lecture 13 will regulate disturbances using variable structure control. Lecture 14 will examine switched/hybrid systems. The challenge problem asks students to design a feedback controller to steer a robot to a target state space position.

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    4 views4 pages

    Lecture07a-Intro Part 2

    Uploaded by

    Chernet Tuge
    This document outlines the topics that will be covered in Part 2 of the lecture series. Lecture 9 will introduce discontinuous dynamics and examples. Lecture 10 will cover variable structure control basics. Lecture 11 will discuss mechanical systems. Lecture 12 will focus on electrical machines. Lecture 13 will regulate disturbances using variable structure control. Lecture 14 will examine switched/hybrid systems. The challenge problem asks students to design a feedback controller to steer a robot to a target state space position.

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    Introduction to Part 2

    Harry G. Kwatny
    Department of Mechanical Engineering & Mechanics Drexel University

    Part 1 Summary

    Lecture 1 Introduction Lecture 2 Manifolds, Vector Fields & Flows Lecture 3 Distributions & Frobenious Thm Lecture 4 Controllability, Observability Lecture 5 Control via Feedback Linearization Lecture 6 Observer Design

    Lecture 8 Robust Control Lecture 9 Adaptive Control

    Part II Outline

    Lecture 9 Intro to Discontinuous Dynamics


    Examples Simulation Tools Solution concepts Sliding domain, equivalent control Lyapunov analysis of discontinuous systems Special Cases: linear dynamics, normal from Stabilization, tracking, path following

    Lecture 10 - Variable Structure Control Basics


    Lecture 11 - Mechanical Systems

    Lecture 12 - Electrical Machines Lecture 13 Regulation & Disturbance Rejection via VSC Lecture 14 Switched/Hybrid Systems

    Challenge Problem
    Recall the robot analyzed in the Fall project. Design a feedback controller that will steer the vehicle to and asymptotically stabilize a prescribed target in the state space.

    G. Oriolo, A. De Luca, M. Venditteli, WMR Control via Dynamic Feedback Linearization: Design, Implementation and Experimental Validation, IEEE Trans. On Control Systems Technolgy, Vol 1o, No 6, pp833-852, 2002 V. Sankaranarayanan, A. D. Mahindrakar, Switched control of a Nonholonomic Robot, Communications in Nonlinear Science and Numrical Simulation, Vol 14, pp 2319-2327, 2009.

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