scispace - formally typeset
Search or ask a question
Author

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.


Papers
More filters
Proceedings ArticleDOI
01 Dec 1984
TL;DR: In this article, the use of sampled data output feed-back to achieve active stabilization of an elastic system is examined in terms of second order vector recursions and sufficient conditions for closed loop stability are developed.
Abstract: There is substantial interest in use of feedback control techniques to achieve active stabilization of elastic systems. Most previous research has focused on use of analog feedback techniques for achieving such stabilization. Use of sampled data output feed-back to achieve stabilization of an elastic system is examined in this work. The basic formulations are stated in terms of second order vector recursions. The suggested controller form consists of an output estimator and estimated output feedback. Sufficient conditions for closed loop stability are developed. A detailed development is given for the special case of an undamped finite dimensional elastic system. Two cases where the feedback depends only on velocity measurement data and only on displacement measurement data are considered. In each case explicit conditions on the gains are given for which the closed loop is guaranteed to be stable.

2 citations

Proceedings ArticleDOI
01 Dec 1987
TL;DR: In this article, a parts queueing system is studied where the arrival of parts is according to a Poisson process and a diffusion-threshold process is proposed for modeling the service times.
Abstract: A parts queueing system is studied where the arrival of parts is according to a Poisson process and a diffusion-threshold process is proposed for modeling the service times. A work rate is the control variable; it is shown to affect the service time probability distribution in an explicit way. The sojourn time for a part is found to be monotone decreasing as a function of this work rate under some reasonable conditions. A class of optimization problems minimizing the weighted sum of the sojourn time and control effort is formulated.

2 citations

Journal ArticleDOI
TL;DR: In this paper, a linear control problem is defined, where the main feature is a constraint that the control be piecewise constant, as in a sampled-data system, and that updating of the control values depends on prior sampled values of the output variables obtained via a round-robin measurement scheme.
Abstract: A linear control problem is defined; the main feature of the problem is a constraint that the control be piecewise constant, as in a sampled-data system, and that updating of the control values depends on prior sampled values of the output variables obtained via a round-robin measurement scheme. Such constraints may arise as a consequence of the use of a microcomputer as part of the control and signal processing logic. The control problem is shown to be equivalent to a classical sampled-data control problem if a certain observability criterion is satisfied. In particular, the state is shown to be reconstructible from the output measurements, so that any classical state-feedback control can also be expressed in terms of the output measurements.

1 citations

Proceedings ArticleDOI
15 Dec 1993
TL;DR: In this paper, the authors extend results in Bloch, Reyhanogln, and McClamroch (1992) to a more general class of nonholonomic dynamic systems that are important in applications.
Abstract: This paper extends results in Bloch, Reyhanogln, and McClamroch (1992) to a more general class of nonholonomic dynamic systems that are important in applications. These nonlinear control systems are referred to as nonholonomic control systems due to certain nonintegrability assumptions which are made. The class of systems considered in this paper is characterized by general nonlinear base space dynamics that are input-output decouplable. Controllability and stabilizability results for this class of nonholonomic control systems are presented. >

1 citations


Cited by
More filters
Book
22 Mar 1994
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
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

6,592 citations

Journal ArticleDOI
TL;DR: In this paper, the authors survey three basic problems regarding stability and design of switched systems, including stability for arbitrary switching sequences, stability for certain useful classes of switching sequences and construction of stabilizing switching sequences.
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.

3,566 citations

Journal Article
TL;DR: In this paper, two major figures in adaptive control provide a wealth of material for researchers, practitioners, and students 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.
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.

1,814 citations

Journal ArticleDOI
01 Jul 2000
TL;DR: In this paper, the authors introduce the concept of hybrid systems 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.
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.

1,647 citations

Journal ArticleDOI
TL;DR: Nonholonomic control systems as discussed by the authors 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.
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.

1,269 citations