Model-Based Tracking Control of Nonlinear Systems

Introduction Scope and Outline Mechanics and Nonlinear Control Role of Modeling in a Control Design Process Dynamics Modeling of Constrained Systems Introduction-Art of Modeling Constrained Systems Equations of Motion for Systems with First-Order Constraints Equations of Motion for Systems with High-Order Constraints Introduction to Nonlinear Control Theory Stability Properties of Nonlinear Systems Classification of Control Problems Control Properties of Nonlinear Systems Kinematic Control Models Dynamic Control Models Feedback Linearization of Nonlinear Systems Models-Based Control Design Methods Flatness-Based Control Design Methods Other Control Design Techniques for Nonlinear Systems Stabilization Strategies for Nonlinear Systems Model-Based Tracking Control of Nonlinear Systems A Unified Control-Oriented Model for Constrained Systems Tracking Control of Holonomic Systems Tracking Control of First-Order Nonholonomic Systems Tracking Control of Underactuated Systems Tracking Control Algorithms Specified in Quasi-Coordinates Path-Following Strategies for Nonlinear Systems Path-Following Strategies Based on Kinematic Control Models Path-Following Strategies Based on Dynamic Control Models Model Reference Tracking Control of High-Order Nonholonomic Systems Model Reference Tracking Control Strategy for Programmed Motion Nonadaptive Tracking Control Algorithms for Programmed Motions Adaptive Tracking Control Algorithms for Programmed Motions Learning Tracking Control Algorithms for Programmed Motions Tracking Control Algorithms for Programmed Motions Specified in Quasi-Coordinates Tracking Control Algorithms for Programmed Motions with the Velocity Observer Other Applications of the Model Reference Tracking Control Strategy for Programmed Motion Concluding Remarks Problems and References appear at the end of each chapter.