From the Publisher:
A comprehensive treatment of model-based fuzzy control systems
This volume offers full coverage of the systematic framework for the stability and design of nonlinear fuzzy control systems. Building on the Takagi-Sugeno fuzzy model, authors Tanaka and Wang address a number of important issues in fuzzy control systems, including stability analysis, systematic design procedures, incorporation of performance specifications, numerical implementations, and practical applications.
Issues that have not been fully treated in existing texts, such as stability analysis, systematic design, and performance analysis, are crucial to the validity and applicability of fuzzy control methodology. Fuzzy Control Systems Design and Analysis addresses these issues in the framework of parallel distributed compensation, a controller structure devised in accordance with the fuzzy model.
This balanced treatment features an overview of fuzzy control, modeling, and stability analysis, as well as a section on the use of linear matrix inequalities (LMI) as an approach to fuzzy design and control. It also covers advanced topics in model-based fuzzy control systems, including modeling and control of chaotic systems. Later sections offer practical examples in the form of detailed theoretical and experimental studies of fuzzy control in robotic systems and a discussion of future directions in the field.
Fuzzy Control Systems Design and Analysis offers an advanced treatment of fuzzy control that makes a useful reference for researchers and a reliable text for advanced graduate students in the field.

Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach

Presents a guide to sliding mode control for practicing control engineers. It offers an accurate assessment of the so-called chattering phenomenon, catalogs implementable sliding mode control design solutions, and provides a frame of reference for future sliding mode control research.

A control engineer's guide to sliding mode control

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.

Developments in nonholonomic control problems

This paper proposes different parameterized linear matrix inequality (PLMI) characterizations for fuzzy control systems. These PLMI characterizations are, in turn, relaxed into pure LMI programs, which provides tractable and effective techniques for the design of suboptimal fuzzy control systems. The advantages of the proposed methods over earlier ones are then discussed and illustrated through numerical examples and simulations.

Parameterized linear matrix inequality techniques in fuzzy control system design

Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots.In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including:Mathematical modeling of walking and running gaits in planar robotsAnalysis of periodic orbits in hybrid systemsDesign and analysis of feedback systems for achieving stable periodic motionsAlgorithms for synthesizing feedback controllersDetailed simulation examplesExperimental implementations on two bipedal test bedsThe elegance of the authors' approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB® code for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots.

/pdf/feedback-control-of-dynamic-bipedal-robot-locomotion-2pz7pbjgsi.pdf

Feedback Control of Dynamic Bipedal Robot Locomotion

The problem of a spacecraft tracking a desired trajectory is de ned and addressed using adaptive feedback control. The control law, which has the form of a sixth-order dynamic compensator, does not require knowledge of the inertia or center of mass of the spacecraft. A Lyapunov argument is used to show that tracking is achieved globally.A simple spin about the intermediate principal axis and a coning motion are commanded to illustrate the control algorithm. Finally, periodic commands are used to identify the inertia matrix of the spacecraft.

/pdf/adaptive-asymptotic-tracking-of-spacecraft-attitude-motion-13iuhjwjk3.pdf

Adaptive Asymptotic Tracking of Spacecraft Attitude Motion with Inertia Matrix Identification

This paper presents a new approach, called adaptive autocentering, that compensates for transmitted force due to imbalance in an active magnetic bearing system. Under the proposed control law, a rigid rotor achieves rotation about the mass center and principal axis of inertia. The basic principle of this approach is to perform on-line identification of the physical characteristics of rotor imbalance and to use the identification results to tune a stabilizing controller. This approach differs from the usual strategy of adaptive feedforward compensation, which models the effect of imbalance as an external disturbance or measurement noise, and then cancels this effect by generating a synchronous reference signal. Unlike adaptive feedforward compensation, adaptive autocentering control is frequency independent and works under varying rotor speed. Performance of the control algorithm is demonstrated in simulation examples for the case of rigid rotors with static or dynamic imbalance.

/pdf/adaptive-autocentering-control-for-an-active-magnetic-1fhsi3qjwo.pdf

Adaptive autocentering control for an active magnetic bearing supporting a rotor with unknown mass imbalance

This paper describes a nonlinear control design problem involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem provides a benchmark for examining nonlinear control design techniques within the framework of a nonlinear fourth-order dynamical system. The problem is posed in the spirit of the linear benchmark problem described in Reference 1. This system was originally studied as a simplified model of a dual-spin spacecraft to investigate the resonance capture phenomenon.2 More recently, it has been studied to investigate the utility of a rotational proof-mass actuator for stabilizing translational motion.3~5 Viewed in this way, the rotational/translational proof-mass actuator (RTAC) has the feature that the nonlinearities associated with the actuator stroke limitation are implicit in the system dynamics. In contrast, the stroke limitation constraint must be considered separately in linear translational proof-mass actuators.6 A similar system has been studied as a rotating unbalanced mass (RUM) actuator in References 7 and 8.

/pdf/a-benchmark-problem-for-nonlinear-control-design-3q2fpizq9z.pdf

A benchmark problem for nonlinear control design

The oscillating eccentric rotor has been widely studied to model resonance capture phenomena occurring in dual-spin spacecraft and rotating machinery This phenomenon arises during spin-up as a resonance condition is encountered We consider the related problem of rotor despin Specifically, we determine nonlinear feedback control laws that not only despin the rotor but also bring its translational motion to rest These globally asymptotically stabilizing control laws are derived using partial feedback linearization and integrator backstepping schemes For the case in which the oscillating eccentric rotor is excited by a translational sinusoidal forcing function, the control law is shown to attenuate the amplitude of the translational oscillation

/pdf/global-stabilization-of-the-oscillating-eccentric-rotor-3bwcu1q534.pdf

Global stabilization of the oscillating eccentric rotor

This paper serves three distinct purposes. First, it provides the problem statement for the benchmark problem for nonlinear control design, an invited session which is the basis for six related papers at the conference. The problem considers a translational oscillator with an attached eccentric rotational proof mass actuator, where the nonlinear coupling between the rotational motion of the actuator and the translational motion of the oscillator provides the mechanism for control. Secondly, the paper describes an experimental testbed that has been constructed by the authors to experimentally investigate this problem. Finally, the paper presents the authors' approach to the benchmark problem, which is based on emulation of passive nonlinear mechanical absorbers with single and multiple modes. These controllers are shown to provide asymptotic stability and disturbance rejection with a bounded input signal. Both numerical and experimental results are presented.

V.T. Coppola

Papers

Adaptive Asymptotic Tracking of Spacecraft Attitude Motion with Inertia Matrix Identification

Adaptive autocentering control for an active magnetic bearing supporting a rotor with unknown mass imbalance

A benchmark problem for nonlinear control design

Global stabilization of the oscillating eccentric rotor

A benchmark problem for nonlinear control design: problem statement, experimental testbed, and passive nonlinear compensation