EAN: 9783319164199

NONLINEAR CONTROL AND FILTERING USING DIFFERENT...

This monograph presents recent advances in differential flatness theory and analyzes its use
for nonlinear control and estimation. It shows how differential flatness theory can provide
solutions to complicated control problems  such as those appearing in highly nonlinear
multivariable systems and distributed-parameter systems. Furthermore  it shows that
differential flatness theory makes it possible to perform filtering and state estimation for a
wide class of nonlinear dynamical systems and provides several descriptive test cases. The book
focuses on the design of nonlinear adaptive controllers and nonlinear filters  using exact
linearization based on differential flatness theory. The adaptive controllers obtained can be
applied to a wide class of nonlinear systems with unknown dynamics  and assure reliable
functioning of the control loop under uncertainty and varying operating conditions. The filters
obtained outperform other nonlinear filters in terms of accuracy of estimation and computation
speed. The book presents a series of application examples to confirm the efficiency of the
proposed nonlinear filtering and adaptive control schemes for various electromechanical
systems. These include: · industrial robots  · mobile robots and autonomous vehicles  ·
electric power generation  · electric motors and actuators · power electronics  · internal
combustion engines  · distributed-parameter systems  and · communication systems. Differential
Flatness Approaches to Nonlinear Control and Filtering will be a useful reference for academic
researchers studying advanced problems in nonlinear control and nonlinear dynamics  and for
engineers working on control applications in electromechanical systems.

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