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Textbook Adaptive and Fault Tolerant Control of Underactuated Nonlinear Systems 1St Edition Jiangshuai Huang Ebook All Chapter PDF
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Adaptive and
Fault-Tolerant Control
of Underactuated
Nonlinear Systems
Adaptive and
Fault-Tolerant Control
of Underactuated
Nonlinear Systems
Jiangshuai Huang • Yong-Duan Song
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Visit the Taylor & Francis Web site at
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To my parents, Li and Xiangjun
J. Huang
To my family
Y.-D. Song
Preface
List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Underactuated Mechanical Systems . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Nonholonomic Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2.1 First-order Nonholonomic Constraint . . . . . . . . . . . . . . . . 2
1.2.2 Second-order Nonholonomic Constraint . . . . . . . . . . . . . . 2
1.2.3 Literature Review of Underactuated Nonlinear Systems 3
1.3 Motivations and Control Objectives . . . . . . . . . . . . . . . . . . . . . . . 5
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
List of Figures
4.8 The positions of the reference and real ship under disturbances
d1 = 1000 ∗ sin(t) and d2 = 2000 ∗ cos(t). . . . . . . . . . . . . . . . . . . . . 67
4.9 The torque τu and τr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Algebraic Operators
AT Transpose of matrix A
A−1 Inverse of matrix A
det(A) Determinant of matrix A
ρ(A) Spectral radius of matrix A
diag(a1 , . . . , an ) Diagonal matrix with main given diagonal numbers
k·k `2 norm for vector or the induced norm for matrix
k · k∞ `∞ norm for vector or the induced norm for matrix
M > 0 (M ≥ 0) M is positive definite(semi-definite)
M1 > M2 (M1 ≥ M2 ) M1 − M2 is positive definite(semi-definite)
A⊗B Kronecker product of A and B
Sets
R Set of real numbers
Z Set of integers
N Set of nonnegative integers
Others
0 Zero vector with a compatible dimension
1 Vector with a compatible dimension and all elements of one
λmax (P ) maximum eigenvalue of matrix P
λmin (P ) minimum eigenvalue of matrix P
1
Introduction
the first order nonholonomic constraints and the second order nonholonomic
constraints. For the first order nonholonomic constraints, the constraints are
defined on the coordinates and velocities of the mechanical systems, whereas
for the second order nonholonomic constraints, the constraints involve accel-
erations of the mechanical systems. The first-order nonholonomic constraint
is widely found in land vehicles like mobile robots or tractor and trailer sys-
tems, while the second order nonholonomic condition is normally required by
surface marine vehicles, under-water vehicles and space vehicles like ships and
spacecraft.
ẋ = v cos θ
ẏ = v sin θ
θ̇ = w
where the forward velocity v and angular velocity w are inputs that can be
controlled independently and it is assumed the front castor wheel and the
rear wheels just roll without slipping, (x, y) denotes the coordinates of the
center of mass and θ denotes the angle between the heading direction and
x-axis. Let the center-line be the line in the middle of two actuated wheels
and orthogonal to the line connecting two wheels. Then the rolling without
slipping condition of mobile robot requires that the velocity orthogonal to the
center-line is equal to zero, which means
We partition the state space configuration into two parts, qi and qj , where
qi ∈ Rm denotes the subsystem actuated directly by control u ∈ Rm , and
qj ∈ Rn−m denotes the subsystem that is not directly actuated by actuators
leaving qj as an un-actuated subsystem. Actually if there is no nontrivial
function Ψ (t, q, q̇) with dΨ/dt = 0 being the solution to (1.2b), then (1.2b)
becomes a nonholonomic constraint.
Typical examples of underactuated nonholonomic systems with second or-
der nonholonomic constraints include robot manipulators, autonomous under-
water vehicles, underactuated surface vehicles, acrobot systems, and vertical
take-off and land spacecraft and aircraft. In contrast to systems with first-
order nonholonomic constraints, the systems with second-order nonholonomic
constraints have drift-terms which make the controller design more difficult.
Such systems also do not satisfy Brockett’s necessary lemma, which means
there is no time-invariant state feedback controller that makes the systems
asymptotically stable. As an example, consider the dynamics of an underac-
tuated ship, which can be described as
η̇ = J(η)ν (1.3)
τ
M ν̇ + C(η, ν)ν + D(ν)ν = (1.4)
0
where η = [x, y, φ]T denotes the position and the orientation of the ship in the
body-fixed frame, ν = [u, v, r]T denotes the linear and angular velocities of
the ship, M is the inertia matrix, C(η, ν) denotes the Coriolis and centripetal
matrix, D(ν) is the damping matrix.
controller is designed for nonholonomic mobile robots such that the tracking
and stabilization problems can be solved with only one controller. In [10] a
global time-varying output feedback controller that can solve tracking and
stabilization for nonholonomic mobile robots is proposed based on a coordi-
nate transformation. In [14], a transverse function approach is proposed for
the stabilization of arbitrary reference trajectories for nonholonomic mobile
robots based on a change of coordinates.
For the underactuated ships, in [16], the method developed for chained-
form systems is applied for tracking control of underactuated ships through
a coordinate transformation. Exponential stability of the closed-loop system
is ensured and the position and the angle of the ship are steered to track
the reference trajectory. In [17], two tracking control schemes are proposed
using Lyapunov’s direct and passivity approaches for underactuated ships. In
[18] a tracking controller is developed for underactuated surface ships to glob-
ally asymptotically track a reference which is allowed to be a curve including
a straight line. In [19] an universal controller is proposed for underactuated
ships to achieve stabilization and tracking control simultaneously based on
Lyapunov’s direct method and backstepping technique. In [20], a continuous
time-varying tracking controller is proposed to yield globally bounded track-
ing by transforming the ship error system into a skew-symmetric form and
generating a time-varying dynamic oscillator. In [21] a global robust adaptive
controller is proposed for an underactuated ship to follow a reference path un-
der both constant and time-varying disturbances and parametric uncertain-
ties. In [22] a global smooth controller is proposed for underactuated ships
that achieves the practical stabilization of arbitrary reference trajectories in-
cluding fixed points and non-admissible trajectories based on the transverse
function approach developed in [14]. In [23] a nonlinear model-based adaptive
output feedback controller is proposed for global asymptotic tracking in the
presence of parametric uncertainties associated with nonlinear ship dynam-
ics. In [25] by nonlinear coordinate changes to transform the ship dynamics
to a system affine in the ship’s velocities, observers are designed to estimate
unmeasured velocities, and tracking controllers are then proposed based on
Lyapunov’s direct method and backstepping.
For general underactuated mechanical systems, several researchers have
proposed controllers to achieve stabilization and tracking objectives. In [26]
a sliding mode control scheme which robustly stabilizes a class of underac-
tuated mechanical systems with parametric uncertainties that are not lin-
early controllable is proposed. In [27] a passivity based interconnection and
damping assignment control scheme is proposed to address the stabilization
of underactuated mechanical systems by modifying both the potential and
kinetic energies. In [28] cascade normal forms including strict feedback form,
feedforward form and nontriangular quadratic form are introduced for un-
deractuated mechanical systems to facilitate control design. In [29] a hybrid
switching control strategy that combines switching control, proportional con-
trol and derivative control is proposed for underactuated mechanical systems.
1.3 Motivations and Control Objectives 5
In [30] the controllability and stabilizability results are derived for a class of
underactuated mechanical systems characterized by nonintegrable dynamics
relations.
— Ei siitä mitään puhetta ollut, väitti nyt seppä, enkä minä sieluani
anna.
— Tartu kiinni!
*****
VII
— Kuinka voit luulla, että luoja korjaa sielusi, kun kerran sanot
aina petkutuksella eläneesi? Piru kai sinut korjaa eikä luoja?
Ja isäntä lisäsi:
— Ei, hyvä veli, tämä tällainen käy päinsä, puheli nyt Lusti
opettavaisesti Santtepekille. Kun olet kerran tuollainen taitoniekka,
että kädellä pyyhkäisemällä teet sokean näkeväksi, niin siitä
taidostahan vasta killinkejä heltiää. Parempaa elämisen keinoa ei voi
olla. Mitäpä siis muuta kuin sinä toimitat sairaiden parantamisen, ja
minä otan osalleni maksun kantamisen. Voit olla varma siitä, että
yhtä tunnollisesti ja perinpohjin kuin sinä tehtäväsi suoritat, minäkin
pidän huolen omastani. Näin me molemmat levitämme onnea ja
siunausta, emme ainoastaan koko maakuntaan, vaan vieläpä omaan
vatsaamme, joka muuten olisi aina tyhjä paitsi suu auki vastatuuleen
kuljettaessa.
Santtepekki ei sanonut mitään, vaan huokasi hiljaa itsekseen..
Mitä oli hänen tehtävä tälle omituiselle ihmislapselle, joka ei
näyttänyt horjahtavan erikoisluonteensa tasapainosta silloinkaan,
kun jumalallinen ihmetyö tapahtui hänen silmäinsä edessä?
Päinvastoin hän oli heti valmis käyttämään sitä tavalla, joka ei ollut
Jumalan tarkoitus, saadakseen itselleen rahaa ja lihallisia nautintoja.
Olisiko mitään keinoa, jolla saisi hänen sielunsa järkytetyksi ja
silmänsä avatuksi? Santtepekki tunsi, kuinka Jumalan aivoitukset
sotamies Lustin suhteen olivat hänelle tuntemattomat, ja huoaten
hän kaipasi Jeesuksen kaikkiviisasta läsnäoloa ja johtoa. Hän päätti
kääntyä rukouksella mestarinsa puoleen ja halusi siksi poistua
syrjemmäksi. Hän pyysi Lustia hetkisen odottamaan ja tämä
selittikin:
— Mikäpä siinä. Laihaa olikin tuon talon ruoka, niin että mielinpä
vähän maistaa näitä lampaanlihoja. Mene sinä vain, minne haluat;
minä teen tulen ja paistan rasvaiset paistit, etteivät lihat pääse
pilautumaan.
VIII
— Riitaako haastat?
- No, vanha toveri! Mitä siellä nurkassa yksin istuskelet ja olet niin
surullisen näköinen? Tule ja ota sinäkin, vanha mies, lämmin ryyppy,
niin rupeavat veresi hiukan vilkkaammin kiertelemään!
— Kas niin! Sehän oli oikein tukeva ryyppy! Jatka vain, niin kyllä
sinusta vielä mies tulee vanhanakin. Ja hän kaasi Santtepekin lasin
uudelleen täyteen. Kuta useammin lasin Santtepekki kallisti, sitä
ihmeellisemmäksi hän tunsi olonsa. Hänestä tuntui kuin olisi hän
aste asteelta laskeutunut yhä lähemmäksi inhimillisyyden vuolasta ja
haaleata virtaa, kunnes vihdoin painui siihen kokonaan ja lähti
uimaan rinnakkain miljoonien sielujen kanssa, rakkaassa
veljeydessä. Ja hänen sielussaan heräsi se suloisen kipeä, katkeran
tuskallinen, mutta samalla kaukaisesti hyvää tekevä ja sielua
avartava polte, jonka Jumala on ihmiselle kalliina aarteena
lahjoittanut ja jonka nimi on elävä, maahan asti nöyrtyvä, uskolla ja
avunhuudolla ylös pyrkivä synnintunto, sielujen ankara kevätmyrsky,
joka raivoaa katkoen puita ja oksia, sortaen maahan kaikki lahot
rakennukset, hälventäen valheen ja teeskentelyn sumut, mukanansa
lupaus ihanasta kevään ajasta, jolloin kyynelöivä maailma välkkyy
armon auringon loisteessa ja autuuden soitto täyttää sielun.
Santtepekki katsahti ympärilleen pimeään krouvin tupaan, jossa
savuavat kynttilät siellä täällä tuikuttivat, uneliaaseen, pöytänsä