Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems

This book provides an exposition of recently developed adaptive and fault-tolerant control of underactuated nonlinear systems, addressing important issues such as input saturation, output-feedback control, fault-tolerant control, and adaptive control. It is useful for researchers and practitioners in the field of control engineering.

Format: Paperback / softback
Length: 244 pages
Publication date: 13 June 2022
Publisher: Taylor & Francis Ltd

The book aims to present a comprehensive exposition of the recent advancements in adaptive and fault-tolerant control of underactuated nonlinear systems. These systems are prevalent in various real-life applications, including landing vehicles, surface ships, underwater vehicles, and spacecraft. While numerous methodologies have been proposed for tracking and stabilizing underactuated mechanical systems, there are still several critical areas that require further exploration. In response to these challenges, this book addresses four significant problems. Firstly, it explores the control of underactuated nonlinear systems with input saturation, addressing the challenges posed by limited actuator capabilities. Secondly, it addresses output-feedback control in the presence of parametric uncertainties, considering the effects of model uncertainties on system performance. Thirdly, it delves into fault-tolerant control of underactuated ships, considering the robustness and reliability requirements in the presence of actuator failures. Lastly, it investigates adaptive control of multiple underactuated nonlinear systems, including formation control and flocking control of multiple underactuated systems. By addressing these important problems, the book aims to contribute to the development of robust and reliable control strategies for underactuated systems, which have significant implications in various fields, such as robotics, aerospace, and transportation.
The book serves the purpose of providing a comprehensive exposition of the recent developments in adaptive and fault-tolerant control of underactuated nonlinear systems. These systems, which are abundant in real life, encompass a wide range of applications, including landing vehicles, surface ships, underwater vehicles, and spacecraft. While numerous methodologies have been proposed for tracking and stabilizing underactuated mechanical systems, there remain several critical issues that warrant further investigation. In response to these challenges, this book addresses four significant problems.

Firstly, it delves into the control of underactuated nonlinear systems with input saturation, addressing the challenges posed by limited actuator capabilities. This problem is particularly relevant in scenarios where the actuators are physically constrained or have limited bandwidth. The book explores various control strategies, such as input shaping, sliding mode control, and adaptive control, to achieve robust tracking and stabilization of underactuated systems.

Secondly, it addresses output-feedback control in the presence of parametric uncertainties. Underactuated systems often operate in uncertain environments, where the parameters of the system may vary due to factors such as environmental disturbances or wear and tear. The book proposes robust control algorithms that can handle parameter uncertainties and ensure stable system performance.

Thirdly, it explores fault-tolerant control of underactuated ships, considering the robustness and reliability requirements in the presence of actuator failures. Underactuated ships, such as autonomous underwater vehicles, face unique challenges due to the complexity of their mechanical systems and the limited number of actuators. The book proposes fault-tolerant control strategies that can ensure the safe operation of underactuated ships even in the presence of actuator failures.

Lastly, it investigates adaptive control of multiple underactuated nonlinear systems, including formation control and flocking control of multiple underactuated systems. These systems, which are commonly found in robotics and aerospace applications, involve the coordination of multiple agents or vehicles. The book proposes adaptive control algorithms that can optimize the collective behavior of multiple underactuated systems and achieve desired objectives, such as formation flying or flock formation.

By addressing these important problems, the book aims to contribute to the development of robust and reliable control strategies for underactuated systems. These strategies have significant implications in various fields, such as robotics, aerospace, and transportation, where the performance and reliability of underactuated systems are critical. The book provides a comprehensive overview of the state-of-the-art research in adaptive and fault-tolerant control of underactuated nonlinear systems and serves as a valuable resource for researchers, practitioners, and students in these fields.

Dimension: 234 x 156 (mm)
ISBN-13: 9781032339269