Current Trends in Nonlinear Systems and Control: In Honor of Petar Kokotović and Turi Nicosia

This volume is an outgrowth of the workshop "Applications of Advanced Control Theory to Robotics and Automation,” organized in honor of the 70th birthdays of Petar V. Kokotovic and Salvatore (Turi) Nicosia. Both Petar and Turi have carried out distinguished work in the control community and have long been recognized as mentors, experts, and pioneers in the field of automatic control, covering many topics in control theory and several different applications. The variety of their research is reflected in this book, which includes contributions from leading experts in the field ranging from mathematics to laboratory experiments. Main topics covered include: \* __State Estimation and Identification__: observer designs for nonlinear systems and linear time-delay systems, as well as identification techniques for linear, nonlinear, piecewise linear, and hybrid systems. \* __Control and System Theory__: theoretical results related to the analysis and control of dynamical systems, including a presentation of Lyapunov tools for linear differential inclusions, a study of the control of constrained systems, and a treatment of finite-time stability concepts. \* __Robotics__: new studies of robot manipulators, parameter identification, and different control problems for mobile robots. \* __Control of Electromechanical Systems__: applications of modern control techniques to port-controlled Hamiltonian systems, different classes of vehicles, and web processing systems. \* __Manufacturing Systems__: applications of the max-plus algebra to system aggregation, optimal machine scheduling problems, and inventory control with cooperation between retailers. \* __Networked Control Systems__: analysis and design problems related to linear and nonlinear networked control systems. The scope of the work is quite broad, and although each chapter is self-contained, the book has been organized into thematically related chapters, and in some cases, convenient reading sequences are suggested to the reader. The wide variety of topics covered and the tutorial writing style used by many of the contributors will make this book suitable for experts, as well as young researchers who seek a more intuitive understanding of these relevant topics in the field. This volume is an outgrowth of the workshop "Applications of Advanced Control Theory to Robotics and Automation," organized in honor of the 70th birthdays of Petar V. Kokotovic and Salvatore Nicosia. Both Petar and Turi have carried out distinguished work in the control community, and have long been recognized as mentors as well as experts and pioneers in the field of automatic control, covering many topics in control theory and several different applications. The variety of their research is reflected in this book, which includes contributions ranging from mathematics to laboratory experiments. Main topics covered include: * Observer design for time-delay systems, nonlinear systems, and identification for different classes of systems * Lyapunov tools for linear differential inclusions, control of constrained systems, and finite-time stability concepts * New studies of robot manipulators, parameter identification, and different control problems for mobile robots * Applications of modern control techniques to port-controlled Hamiltonian systems, different classes of vehicles, and web handling systems * Applications of the max-plus algebra to system-order reduction; optimal machine scheduling problems; and inventory control with cooperation between retailers * Control of linear and nonlinear networked control systems: deterministic and stochastic approaches The scope of the work is very broad, and although each chapter is self-contained, the book has been organized into thematically related chapters, which in some cases suggest to the reader a convenient reading sequence. The great variety of topics covered and the almost tutorial writing style used by many of the authors will make this book suitable for experts, as well as young researchers who seek a more intuitive understanding of these relevant topics in the field. TOC:Preface * Part I: State Estimation and Identification *Circle Criterion Observers and Their Feedback Applications: An Overview *A Geometric Approach to the Unknown Input Observation Problem for Time Delay Systems *Solving Nonlinear Least-Squares Problems for Parameter Identification Using Elimination Theory *A Survey of Techniques for Identification of Piecewise Affine and Hybrid Systems * Part II: Control of Linear Systems *On the Use of Duality and Convex Conjugate Lyapunov Functions in Stability Analysis for Linear Differential Inclusions *Networked Decentralised Control of Multirate Sampled-data Systems *Constrained Pole Assignment Control: Simple Solutions for Simple Control Problems *Constructive Nonlinear Anti-windup Design for Exponentially Unstable Linear Plants * Part III: Finite Time Stability *An Overview of Finite Time Stability *Finite Time Control via Output Feedback: Theory and Applications *Finite-Time Stability for Nonlinear Networked Systems * Part IV: Robotics *An Application of Iterative Identification and Control in the Robotics Field *Vision-based Formation Control of Nonholonomic Mobile Robots Using Dynamic Feedback Linearization *Set Membership Localization and Map Building for Mobile Robots *Friction Identification and Model-based Digital Control of a Direct-Drive Manipulator *Force and Position Control of Flexible-Link Manipulators *Motion Control and Coordination in Mechanical and Robotic Systems *Grasp in Humans, Robotics and Virtual Reality *Oscillators as System Interconnections * Part V: Control of Electromechanical Systems *Transient Stabilization of Multimachine Power Systems with Nontrivial Transfer Conductances*Fault Tolerant Control for Electro-Mechanical Systems: An Internal Model Based Approach *Control of Mini-flying Vehicles: Application to the PVTOL Aircraft Using Vision *Servo Control Design for Large Antennae Using Backst Front Matter....Pages 1-1 Circle-Criterion Observers and Their Feedback Applications: An Overview....Pages 3-14 Unknown Input Observers and Residual Generators for Linear Time Delay Systems....Pages 15-33 Set Membership Identification: The H ∞ Case....Pages 35-57 Algebraic Methods for Nonlinear Systems: Parameter Identification and State Estimation....Pages 59-78 Recent Techniques for the Identification of Piecewise Affine and Hybrid Systems....Pages 79-99 Front Matter....Pages 101-101 Dual Matrix Inequalities in Stability and Performance Analysis of Linear Differential/Difference Inclusions....Pages 103-122 Oscillators as Systems and Synchrony as a Design Principle....Pages 123-141 Nonlinear Anti-windup for Exponentially Unstable Linear Plants....Pages 143-162 Constrained Pole Assignment Control....Pages 163-183 An Overview of Finite-Time Stability....Pages 185-194 Finite-Time Control of Linear Systems: A Survey....Pages 195-213 Front Matter....Pages 215-215 An Application of Iterative Identification and Control in the Robotics Field....Pages 217-229 Friction Identification and Model-Based Digital Control of a Direct-Drive Manipulator....Pages 231-251 A Singular Perturbation Approach to Control of Flexible Arms in Compliant Motion....Pages 253-269 Fault Tolerant Tracking of a Robot Manipulator: An Internal Model Based Approach....Pages 271-287 Set Membership Localization and Map Building for Mobile Robots....Pages 289-308 Visual Servoing with Central Catadioptric Camera....Pages 309-325 Motion Control and Coordination in Mechanical and Robotic Systems....Pages 327-346 Coordination of Robot Teams: A Decentralized Approach....Pages 347-363 Front Matter....Pages 365-365 Transient Stabilization of Multimachine Power Systems....Pages 367-386 Front Matter....Pages 365-365 Robust Controllers for Large-Scale Interconnected Systems: Applications to Web Processing Machines....Pages 387-406 Control Strategy Using Vision for the Stabilization of an Experimental PVTOL Aircraft Setup....Pages 407-419 Neural Network Model Reference Adaptive Control of Marine Vehicles....Pages 421-440 Front Matter....Pages 441-441 Projection and Aggregation in Maxplus Algebra....Pages 443-454 A Switched System Model for the Optimal Control of Two Symmetric Competing Queues with Finite Capacity....Pages 455-474 Cooperative Inventory Control....Pages 475-491 Front Matter....Pages 493-493 Communication Logic Design and Analysis for Networked Control Systems....Pages 495-514 Networked Decentralized Control of Multirate Sampled-Data Systems....Pages 515-534 Finite-Time Stability for Nonlinear Networked Control Systems....Pages 535-553

this Volume Is An Outgrowth Of The Workshop Applications Of Advanced Control Theory To Robotics And Automation,” Organized In Honor Of The 70th Birthdays Of Petar V. Kokotovic And Salvatore (turi) Nicosia. Both Petar And Turi Have Carried Out Distinguished Work In The Control Community And Have Long Been Recognized As Mentors, Experts, And Pioneers In The Field Of Automatic Control, Covering Many Topics In Control Theory And Several Different Applications. The Variety Of Their Research Is Reflected In This Book, Which Includes Contributions From Leading Experts In The Field Ranging From Mathematics To Laboratory Experiments.

main Topics Covered Include:

* State Estimation And Identification: Observer Designs For Nonlinear Systems And Linear Time-delay Systems, As Well As Identification Techniques For Linear, Nonlinear, Piecewise Linear, And Hybrid Systems.

* Control And System Theory: Theoretical Results Related To The Analysis And Control Of Dynamical Systems, Including A Presentation Of Lyapunov Tools For Linear Differential Inclusions, A Study Of The Control Of Constrained Systems, And A Treatment Of Finite-time Stability Concepts.

* Robotics: New Studies Of Robot Manipulators, Parameter Identification, And Different Control Problems For Mobile Robots.

* Control Of Electromechanical Systems: Applications Of Modern Control Techniques To Port-controlled Hamiltonian Systems, Different Classes Of Vehicles, And Web Processing Systems.

* Manufacturing Systems: Applications Of The Max-plus Algebra To System Aggregation, Optimal Machine Scheduling Problems, And Inventory Control With Cooperation Between Retailers.

* Networked Control Systems: Analysis And Design Problems Related To Linear And Nonlinear Networked Control Systems.

the Scope Of The Work Is Quite Broad, And Although Each Chapter Is Self-contained, The Book Has Been Organized Into Thematically Related Chapters, And In Some Cases, Convenient Reading Sequences Are Suggested To The Reader. The Wide Variety Of Topics Covered And The Tutorial Writing Style Used By Many Of The Contributors Will Make This Book Suitable For Experts, As Well As Young Researchers Who Seek A More Intuitive Understanding Of These Relevant Topics In The Field.

This volume is an outgrowth of the workshop "Applications of Advanced Control Theory to Robotics and Automation, "organized in honor of the 70th birthdays of Petar V. Kokotovic and Salvatore (Turi) Nicosia. Both Petar and Turi have carried out distinguished work in the control community and have long been recognized as mentors, as well as experts and pioneers in the field of automatic control, covering many topics in control theory and several different applications. The variety of their research is reflected in this book, which includes contributions ranging from mathematics to laboratory experiments. The scope of the work is very broad, and although each chapter is self-contained, the book has been organized into thematically related chapters, which in some cases, suggest to the reader a convenient reading sequence. The great variety of topics covered and the almost tutorial writing style used by many of the authors will make this book suitable for both experts in the control field and young researchers who seek a more intuitive understanding of these relevant topics in the field.