Large-scale systems modelling and control

1985 ◽  
Vol 73 (8) ◽  
pp. 1340-1341
Author(s):  
M.G. Safonov
Keyword(s):  
Large Scale ◽  
Large Scale Systems ◽  
Systems Modelling ◽  
And Control

The Skew-Symmetric Property of the Newton-Euler Formulation for Constrained Multibody Systems

1996 ◽  
Author(s):  
Hong-Chin Lin ◽  
Tsung-Chieh Lin ◽  
KwangHae H. Yae
Keyword(s):  
Special Form ◽  
Multibody Systems ◽  
Large Scale ◽  
Computational Analysis ◽  
Necessary Condition ◽  
Large Scale Systems ◽  
Lagrange Formulation ◽  
Dynamics Simulations ◽  
And Control ◽  
Symmetric Property

Abstract This paper proposes a special form of the recursive Newton-Euler formulation that satisfies the skew-symmetric property, which is a necessary condition to ensure global convergence in a class of regressor-based identification and adaptive control (Slotine, 1987a & 1987b; Craig, 1987). For general multibody systems, such a special form has been developed in a reduced Euler-Lagrange formulation, but not in the Newton-Euler formulation, which has been very popular in the computational analysis of large scale systems. The paper successfully constructs a pair of inertia and Coriolis-centrifugal matrices for a “skew-symmetric” recursive Newton-Euler formulation, which can be used in both dynamics simulations and control applications.

Introduction

2011 ◽  
Author(s):  
Wassim M. Haddad ◽  
Sergey G. Nersesov
Keyword(s):  
Dynamical Systems ◽  
Finite Time ◽  
Lyapunov Functions ◽  
Large Scale ◽  
Interconnected Systems ◽  
Large Scale Systems ◽  
Vector Lyapunov Functions ◽  
Finite Time Stabilization ◽  
And Control ◽  
Interconnected Dynamical Systems

This book develops a general stability analysis and control design framework for nonlinear large-scale interconnected dynamical systems, with an emphasis on vector Lyapunov function methods and vector dissipativity theory. It examines large-scale continuous-time interconnected dynamical systems and describes thermodynamic modeling of large-scale interconnected systems, along with the use of vector Lyapunov functions to control large-scale dynamical systems. It also discusses finite-time stabilization of large-scale systems via control vector Lyapunov functions, coordination control for multiagent interconnected systems, large-scale impulsive dynamical systems, finite-time stabilization of large-scale impulsive dynamical systems, and hybrid decentralized maximum entropy control for large-scale systems. This chapter provides a brief introduction to large-scale interconnected dynamical systems as well as an overview of the book's structure.

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