الصفحة 1
الصفحة 1
Nonlinear Observers and Applications
The problem of state reconstruction in dynamical systems, known as observer problem, is undoubtedly crucial for controlling or just monitoring processes. For linear systems, the corresponding theory has been quite well established for several years now, and the purpose of the present book is to propose an overview on possible tools in that respect for nonlinear systems. Basic observability notions and observer structures are first recalled, together with ingredients for advanced designs on this basis. A special attention is then paid to the well-known high gain techniques with a summary of various corresponding recent results. A focus on the celebrated Extended Kalman filter is also given, in the perspectives of both nonlinear filtering and high gain observers, leading to so-called adaptive-gain observers. The more specific immersion approach for observer design is then emphasized, while optimization-based methods are also presented as an alternative to analytic observers.
Introduction to Mathematical Systems Theory : Linear Systems, Identification and Control
This book provides an introduction to the theory of linear systems and control for students in business mathematics, econometrics, computer science, and engineering. The focus is on discrete time systems, which are the most relevant in business applications, as opposed to continuous time systems, requiring less mathematical preliminaries. The subjects treated are among the central topics of deterministic linear system theory: controllability, observability, realization theory, stability and stabilization by feedback, LQ-optimal control theory. Kalman filtering and LQC-control of stochastic systems are also discussed, as are modeling, time series analysis and model specification, along with model validation.
Fourier Series in Control Theory
Fourier Series in Control Theory successfully gathers all of the available theory of these "nonharmonic Fourier series" in one place, combining published results with new results, to create a unique source of such material for practicing applied mathematicians, engineers, and other scientific professionals.Starting with an overview of the problems of observability, controllability, and stabilization of linear systems and their interconnections, the text contains complete proofs along with a short, simplified, presentation of some properties of Bessel functions for the convenience of the reader. Only basic knowledge of functional analysis is required.
Environment Learning for Indoor Mobile Robots : A Stochastic State Estimation Approach to Simultaneous Localization and Map Building
This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots, such as estimation stability, nonlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM. The authors show that the typical approach to SLAM using a Kalman filter results in marginal filter stability, making the final reconstruction estimates dependant on the initial vehicle estimates. However, by anchoring the map to a fixed landmark in the scene, they are able to attain full observability in SLAM, with reduced covariance estimates.
Mathematical Control Theory : An Introduction
Mathematical Control Theory: An Introduction presents, in a mathematically precise manner, a unified introduction to deterministic control theory. With the exception of a few more advanced concepts required for the final part of the book, the presentation requires only a knowledge of basic facts from linear algebra, differential equations, and calculus. In addition to classical concepts and ideas, the author covers the stabilization of nonlinear systems using topological methods, realization theory for nonlinear systems, impulsive control and positive systems, the control of rigid bodies, the stabilization of infinite dimensional systems, and the solution of minimum energy problems.
IUTAM symposium on chaotic dynamics and control of systems and processes in mechanics ; Proceedings of the IUTAM Symposium held in Rome, Italy, 8-13 June 2003
In recent years, careful experimental studies have been made to establish the actual occurrence and observability of the predicted dynamic phenomenaComplex dynamics have been shown to characterize the behaviour of a great number of nonlinear mechanical systemswhen the first IUTAM Symposium devoted to the general topic of nonlinear
