Model-Based Tracking Control of Nonlinear Systems

To support the control design process, this book presents model-based control techniques for nonlinear, constrained systems. It covers constructive control design methods with an emphasis on modeling constrained systems, generating dynamic control models, and designing tracking control algorithms for the models. The author shows how system modeling and control theory are both essential to control design projects. She discusses kinematics and dynamic model formulation, describes the design of control algorithms, and presents a new tracking control strategy architecture. Numerous examples, problems, and references are included in each chapter.

Elzbieta Jarzebowska is an associate professor in the Institute of Aeronautics and Applied Mechanics at the Warsaw University of Technology. She is a member of ASME, IEEE, GAMM, IFToMM Technical Committee of Mechatronics, and International SAR. Her research and teaching interests encompass dynamics modeling and analysis of multibody systems, nonlinear control of multibody systems, and geometric control theory.

Introduction. Dynamics Modeling of Constrained Systems. Introduction to Nonlinear Control Theory. Stabilization Strategies for Nonlinear Systems. Model-Based Tracking Control of Nonlinear Systems. Path-Following Strategies for Nonlinear Systems. Model Reference Tracking Control of High-Order Nonholonomic Systems. Concluding Remarks.