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03843nam a22005655i 4500 |
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978-1-84628-471-7 |
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DE-He213 |
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20151204161356.0 |
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100301s2006 xxk| s |||| 0|eng d |
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|a 9781846284717
|9 978-1-84628-471-7
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|a 10.1007/978-1-84628-471-7
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|a Alamir, Mazen.
|e author.
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|a Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes
|h [electronic resource] :
|b A Parametrized Approach for Fast Systems /
|c by Mazen Alamir.
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|a London :
|b Springer London,
|c 2006.
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|a XVII, 308 p. 102 illus.
|b online resource.
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|a text
|b txt
|2 rdacontent
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|a computer
|b c
|2 rdamedia
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|a online resource
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|a text file
|b PDF
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|a Lecture Notes in Control and Information Sciences,
|x 0170-8643 ;
|v 339
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|a Generic Framework -- Definitions and Notation -- The Receding-Horizon State Feedback -- Stabilizing Schemes with Final Equality Constraint on the State -- Stabilizing Formulations with Free Prediction Horizon and No Final Constraint on the State -- General Stabilizing Formulations for Trivial Parametrization -- Limit Cycles Stabilizing Receding-Horizon Formulation for a Class of Hybrid Nonlinear Systems -- Generic Design of Dynamic State Feedback Using Receding-Horizon Schemes -- Application Examples -- Swing-Up Mechanical Systems -- Minimum-Time Constrained Stabilization of Nonholonomic Systems -- Stabilization of a Rigid Satellite in Failure Mode -- Receding-Horizon Solution to the Minimum-Interception-Time Problem -- Constrained Stabilization of a PVTOL Aircraft -- Limit Cycle Stabilizing Receding-Horizon Controller for the Planar Biped Rabbit.
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|a While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of fast systems. Dr. Alamir presents a successful approach to this problem based on a co-operation between structural considerations and on-line optimization. The balance between structural and optimization aspects of the method is dependent on the system being considered so the many examples aim to transmit a mode of thought rather than a ready-to-use recipe; they include: - double inverted pendulum; - non-holonomic systems in chained form; - snake board; - missile in intercept mission; - polymerization reactor; - walking robot; - under-actuated satellite in failure mode. In addition, the basic stability results under receding horizon control schemes are revisited using a sampled-time, low-dimensional control parameterization that is mandatory for fast computation and some novel formulations are proposed which offer promising directions for future research.
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|a Engineering.
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|a Chemical engineering.
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|a System theory.
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|a Calculus of variations.
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|a Automotive engineering.
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|a Control engineering.
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|a Robotics.
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|a Mechatronics.
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|a Engineering.
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|a Control.
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|a Control, Robotics, Mechatronics.
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| 650 |
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|a Systems Theory, Control.
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| 650 |
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|a Calculus of Variations and Optimal Control; Optimization.
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| 650 |
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|a Automotive Engineering.
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|a Industrial Chemistry/Chemical Engineering.
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| 710 |
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|a SpringerLink (Online service)
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|t Springer eBooks
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|i Printed edition:
|z 9781846284700
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| 830 |
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|a Lecture Notes in Control and Information Sciences,
|x 0170-8643 ;
|v 339
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|u http://dx.doi.org/10.1007/978-1-84628-471-7
|z Full Text via HEAL-Link
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| 912 |
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|a ZDB-2-ENG
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| 950 |
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|a Engineering (Springer-11647)
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