Communications and Control Engineering

Passivity-based Control of Euler-Lagrange Systems

Mechanical, Electrical and Electromechanical Applications

Authors: Ortega, R., Loría Perez, J.A., Nicklasson, P.J., Sira-Ramirez, H.

Free Preview

Buy this book

eBook 139,09 €
price for Spain (gross)
  • ISBN 978-1-4471-3603-3
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover 228,79 €
price for Spain (gross)
  • ISBN 978-1-85233-016-3
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
  • The final prices may differ from the prices shown due to specifics of VAT rules
Softcover 174,94 €
price for Spain (gross)
  • ISBN 978-1-84996-852-2
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
  • The final prices may differ from the prices shown due to specifics of VAT rules
About this book

New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. Unfortunately, the existing theory for general nonlinear systems cannot successfully deal with them. This book, which summarises the experience of the authors on control engineering applications over the past ten years aims to overcome this drawback by:

• Giving back to modelling the central role that it deserves, and focusing on the structural aspects that can be exploited for the controller design.

• Formalising mathematically current engineering practice, which is usually developed from practical experience and considerations, as opposed to theoretical analysis.

• Proposing new control laws that sometimes are viewed as "upgrades" to the existing schemes.

• Experimental validation, that confronts the new schemes with other theoretical studies or with industrial controllers.

The fundamental concept of passivity and the perspective of control as a suitable interconnection of the system with its environment are key ingredients in all the developments of the book, which is primarily aimed at control-orientated graduate students and researchers, but which will also have value for both practising engineers and those concerned with the more theoretical side of the subject.

 

The Communications and Control Engineering series reflects the major technological advances which have a great impact in the fields of communication and control. It reports on the research in industrial and academic institutions around the world to exploit the new possibilities which are becoming available.

About the authors

Romeo Ortega obtained the Docteur D`Etat from the Polytechnical Institute of Grenoble, France in 1984 . He then joined the National University of Mexico, where he worked until 1989. He was a Visiting Professor at the University of Illinois, USA, in 1987-88 and at McGill University, Canada, in 1991-1992, and a Fellow of the Japan Society for Promotion of Science in 1990-1991. Currently he is in the Laboratoire des Signaux et Systèmes of Supélec in Gif-sur-Yvette, France, where he holds a position of Directeur de Recherche from the CNRS. His research interests are in the fields of nonlinear and adaptive control with special emphasis on applications. He is a co-author of the Springer-Verlag book Nonlinear Adaptive Control Design and Applications, and has published more than 100 scientific papers in international journals. Dr Ortega has been the chairman of the IEEE Working Group on Adaptive Control and Systems Identification, of the IFAC Technical Committee on Adaptive Control and Tuning and of the Automatica Paper Prize Award Committee. He has served as Associate Editor for various scientific journals. Dr Ortega is a member of the IFAC Technical Board and a Fellow of the IEEE.

Antonio Loría has been a research fellow at the University of Twente, NTNU Norway and UCSB, California. Currently, he has a tenure position as Associate Researcher with the National Centre for Scientific Research (CNRS), France. He is author of more than seventy scientific journal and conference papers as well as four book chapters in control theory; of these publications, more than 20 are on robot control. He is co-author of Control of Robot Manipulators in Joint Space by R. Kelly, V. Santibáñez and A. Loría, (1-85233-994-2).

Hebertt Sira-Ramirez has published his work in 4 books, 20 book chapters, many of them in Springer-Verlag volumes, 114 journal publications in credited, refereed, journals and over 192 specialized international conferences. He obtained his MSEE and his PhD, both from the Massachusetts Institute of Technology (Cambridge, USA) in 1972 and 1977, respectively. He worked as a professor, and researcher, for 28 years at the Universidad de Los Andes in Merida, Venezuela, and has worked for the last 7 years in a Scientific Research Institute in Mexico City (Cinvestav-IPN). He is a member of the IFAC Technical Committee on Non-Linear Control Systems.

Reviews

From the reviews:

We highly recommend Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications for bot the researcher interested in advanced passivity-based control techniques and the engineer seeking experimentally proven techniques. The pedagogical style of the authors lend to the readability and the flow of knowledge to the reader; hence, this text lends itself to classroom use as a graduate level text in passivity-based control.

Automatica 36 (2000) 1389 – 1391 (Reviewers: Warren E. Dixon and Darren M. Dawson)

 

…an attractive reference book for research and development engineers who are interested in modern methods of control theory. Also, can be used for advanced senior-level course in university.

IEEE Industrial Electronics Society Newsletter June (2001) 12 (Reviewer: Marian P. Kazmierkowsi)


Table of contents (13 chapters)

Table of contents (13 chapters)

Buy this book

eBook 139,09 €
price for Spain (gross)
  • ISBN 978-1-4471-3603-3
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover 228,79 €
price for Spain (gross)
  • ISBN 978-1-85233-016-3
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
  • The final prices may differ from the prices shown due to specifics of VAT rules
Softcover 174,94 €
price for Spain (gross)
  • ISBN 978-1-84996-852-2
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
  • The final prices may differ from the prices shown due to specifics of VAT rules
Loading...

Services for this Book

Bibliographic Information

Bibliographic Information
Book Title
Passivity-based Control of Euler-Lagrange Systems
Book Subtitle
Mechanical, Electrical and Electromechanical Applications
Authors
Series Title
Communications and Control Engineering
Copyright
1998
Publisher
Springer-Verlag London
Copyright Holder
Springer-Verlag London
eBook ISBN
978-1-4471-3603-3
DOI
10.1007/978-1-4471-3603-3
Hardcover ISBN
978-1-85233-016-3
Softcover ISBN
978-1-84996-852-2
Series ISSN
0178-5354
Edition Number
1
Number of Pages
XXXIV, 543
Number of Illustrations
160 b/w illustrations
Topics