Dynamics And Control Of Hybrid Mechanical Systems

The papers in this edited volume aim to provide a better understanding of the dynamics and control of a large class of hybrid dynamical systems that are described by different models in different state space domains. They not only cover important aspects and tools for hybrid systems analysis and control, but also a number of experimental realizations. Special attention is given to synchronization a universal phenomenon in nonlinear science that gained tremendous significance since its discovery by Huygens in the 17th century. Possible applications of the results introduced in the book include control of mobile robots, control of CD/DVD players, flexible manufacturing lines, and complex networks of interacting agents. The book is based on the material presented at a similarly entitled minisymposium at the 6th European Nonlinear Dynamics Conference held in St Petersburg in 2008. It is unique in that it contains results of several international and interdisciplinary collaborations in the field, and reflects state-of-the-art technological development in the area of hybrid mechanical systems at the forefront of the 21st century.

Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.

This book is about dynamical systems that are "hybrid" in the sense that they contain both continuous and discrete state variables. Recently there has been increased research interest in the study of the interaction between discrete and continuous dynamics. The present volume provides a first attempt in book form to bring together concepts and methods dealing with hybrid systems from various areas, and to look at these from a unified perspective. The authors have chosen a mode of exposition that is largely based on illustrative examples rather than on the abstract theorem-proof format because the systematic study of hybrid systems is still in its infancy. The examples are taken from many different application areas, ranging from power converters to communication protocols and from chaos to mathematical finance. Subjects covered include the following: definition of hybrid systems; description formats; existence and uniqueness of solutions; special subclasses (variable-structure systems, complementarity systems); reachability and verification; stability and stabilizability; control design methods. The book will be of interest to scientists from a wide range of disciplines including: computer science, control theory, dynamical system theory, systems modeling and simulation, and operations research.

With a specific focus on the needs of the designers and engineers in industrial settings, The Mechanical Systems Design Handbook: Modeling, Measurement, and Control presents a practical overview of basic issues associated with design and control of mechanical systems. In four sections, each edited by a renowned expert, this book answers diverse questions fundamental to the successful design and implementation of mechanical systems in a variety of applications. Manufacturing addresses design and control issues related to manufacturing systems. From fundamental design principles to control of discrete events, machine tools, and machining operations to polymer processing and precision manufacturing systems. Vibration Control explores a range of topics related to active vibration control, including piezoelectric networks, the boundary control method, and semi-active suspension systems. Aerospace Systems presents a detailed analysis of the mechanics and dynamics of tensegrity structures Robotics offers encyclopedic coverage of the control and design of robotic systems, including kinematics, dynamics, soft-computing techniques, and teleoperation. Mechanical systems designers and engineers have few resources dedicated to their particular and often unique problems. The Mechanical Systems Design Handbook clearly shows how theory applies to real world challenges and will be a welcomed and valuable addition to your library.

This book contains the edited version of the lectures presented at the NATO ADVANCED STUDY INSTITUTE on "COMPUTER AIDED ANALYSIS OF RIGID AND FLEXIBLE MECHANICAL SYSTEMS". held in Troia. Portugal. from the 27 June to 9 July. 1993. and organized by the Instituto de Engenharia Mecanica. Instituto Superior Tecnico. This ASI addressed the state-of-art in the field of multibody dynamics. which is now a well developed subject with a great variety of formalisms. methods and principles. Ninety five participants. from twenty countries. representing academia. industry. government and research institutions attended this Institute. This contributed greatly to the success of the Institute since it encouraged the interchange of experiences between leading scientists and young scholars and promoted discussions that helped to generate new ideas and to defme directions of research and future developments. The full program of the Institute included also contributed presentations made by participants where different topics have been explored. Such topics include: formulations and numerical aspects in rigid and flexible mechanical systems; object-oriented paradigms; optimal design and synthesis; robotics; kinematics; path planning; control; impact dynamics; and several application oriented developments in weapon systems. vehicles and crash worthiness. These papers have been revised and will be published by Kluwer in a special issue of the Journal of Nonlinear Dynamics and in a forthcoming companion book. This book brings together. in a tutorial and review manner. a comprehensive summary of current work and is therefore suitable for a wide range of interests.

Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.

Thank you for opening the second edition of this monograph, which is devoted to the study of a class of nonsmooth dynamical systems of the general form: ::i; = g(x,u) (0. 1) f(x, t) 2: 0 where x E JRn is the system's state vector, u E JRm is the vector of inputs, and the function f (-, . ) represents a unilateral constraint that is imposed on the state. More precisely, we shall restrict ourselves to a subclass of such systems, namely mechanical systems subject to unilateral constraints on the position, whose dynamical equations may be in a first instance written as: ii= g(q,q,u) (0. 2) f(q, t) 2: 0 where q E JRn is the vector of generalized coordinates of the system and u is an in put (or controller) that generally involves a state feedback loop, i. e. u= u(q, q, t, z), with z= Z(z, q, q, t) when the controller is a dynamic state feedback. Mechanical systems composed of rigid bodies interacting fall into this subclass. A general prop erty of systems as in (0. 1) and (0. 2) is that their solutions are nonsmooth (with respect to time): Nonsmoothness arises primarily from the occurence of impacts (or collisions, or percussions) in the dynamical behaviour, when the trajectories attain the surface f(x, t) = O. They are necessary to keep the trajectories within the subspace = {x : f(x, t) 2: O} of the system's state space.