N.H. McClamroch

Bio: N.H. McClamroch is an academic researcher from University of Michigan. The author has contributed to research in topics: Nonlinear system & Control system. The author has an hindex of 30, co-authored 118 publications receiving 6317 citations. Previous affiliations of N.H. McClamroch include Worcester Polytechnic Institute & University of Texas at Austin.

A hybrid switched mode control approach for V/STOL flight control problems

Abstract: We study two flight control problems for the standard planar V/STOL (vertical/short take off and landing) flight control model. Stabilization and tracking objectives are difficult to achieve since the model is known to be nonminimum phase, i.e. for outputs of interest there are unstable zero dynamics. A class of nonlinear hybrid feedback controllers, switching between members of a family of piecewise constant functions, is introduced; switching logic is defined that guarantees satisfaction of the desired control objectives. We show that this hybrid control approach is effective for these problems.

Stabilization of a 3D Axially Symmetric Rigid Pendulum

Abstract: Models for a 3D pendulum, consisting of a rigid body that is supported at a frictionless pivot, were introduced in a recent 2004 CDC paper [1]. Control problems were posed based on these models. A subsequent paper, in the 2005 ACC [2], developed stabilizing controllers for a 3D rigid pendulum assuming three independent control inputs. In the present paper, stabilizing controllers are developed for a 3D rigid pendulum assuming that the pendulum has a single axis of symmetry that is uncontrollable. This assumption allows development of a reduced model that forms the basis for controller design and closed loop analysis; this reduced model is parameterized by the constant angular velocity component of the 3D pendulum about its axis of symmetry. Several different controllers are proposed. The first controller, based on angular velocity feedback only, asymptotically stabilizes the hanging equilibrium. Then controllers are introduced, based on angular velocity and reduced attitude feedback, that asymptotically stabilize either the hanging equilibrium or the inverted equilibrium. These problems can be viewed as stabilization of a Lagrange top. Finally, if the angular velocity about the axis of symmetry is assumed to be zero, controllers are introduced, based on angular velocity and reduced attitude feedback, that asymptotically stabilize either the hanging equilibrium or the inverted equilibrium. This problem can be viewed as stabilization of a spherical pendulum.

Hybrid closed loop systems: a nonlinear control perspective

Abstract: A survey of hybrid closed loop control problems that arise from the use of hybrid controllers to control smooth nonlinear systems is presented. This is a special class of hybrid closed loop systems, but they are of substantial interest in identifying the value of hybrid control as a generalization of classical control approaches for nonlinear systems.

Shape change actuation for precision attitude control

Abstract: This article focuses on an alternative technology for attitude control called shape change actuation and control. The objective is to control the spacecraft attitude by purposefully changing the mass distribution of the spacecraft. Shape change actuation and control is not useful for momentum dumping or storage. Rather, it is intended for efficient, low-authority attitude control, possibly as a backup for thrusters and reaction wheels.

A Mathematical Introduction to Robotic Manipulation

Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

Basic problems in stability and design of switched systems

Abstract: By a switched system, we mean a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that orchestrates the switching between them. The article surveys developments in three basic problems regarding stability and design of switched systems. These problems are: stability for arbitrary switching sequences, stability for certain useful classes of switching sequences, and construction of stabilizing switching sequences. We also provide motivation for studying these problems by discussing how they arise in connection with various questions of interest in control theory and applications.

Adaptive Control

Abstract: This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Perspectives and results on the stability and stabilizability of hybrid systems

Abstract: This paper introduces the concept of a hybrid system and some of the challenges associated with the stability of such systems, including the issues of guaranteeing stability of switched stable systems and finding conditions for the existence of switched controllers for stabilizing switched unstable systems. In this endeavour, this paper surveys the major results in the (Lyapunov) stability of finite-dimensional hybrid systems and then discusses the stronger, more specialized results of switched linear (stable and unstable) systems. A section detailing how some of the results can be formulated as linear matrix inequalities is given. Stability analyses on the regulation of the angle of attack of an aircraft and on the PI control of a vehicle with an automatic transmission are given. Other examples are included to illustrate various results in this paper.

Developments in nonholonomic control problems

Abstract: Provides a summary of recent developments in control of nonholonomic systems. The published literature has grown enormously during the last six years, and it is now possible to give a tutorial presentation of many of these developments. The objective of this article is to provide a unified and accessible presentation, placing the various models, problem formulations, approaches, and results into a proper context. It is hoped that this overview will provide a good introduction to the subject for nonspecialists in the field, while perhaps providing specialists with a better perspective of the field as a whole. The paper is organized as follows: introduction to nonholonomic control systems and where they arise in applications, classification of models of nonholonomic control systems, control problem formulations, motion planning results, stabilization results, and current and future research topics.