The purpose of the book is to provide an exposition of recently developed adaptive and fault-tolerant control of underactuated nonlinear systems. Underactuated systems are abundant in real life, ranging from landing vehicles to surface ships and underwater vehicles to spacecrafts. For the tracking and stabilization control of underactuated mechanical systems, many methodologies have been proposed. However, a number of important issues deserve further investigation. In response to these issues, four important problems are solved in this book, including control of underactuated nonlinear systems with input saturation, output-feedback control in the presence of parametric uncertainties, fault-tolerant control of underactuated ships with or without actuator redundancy, and adaptive control of multiple underactauted nonlinear systems, including formation control and flocking control of multiple underactuated systems.
Preface
Chapter 1 : Introduction
Chapter 2 : Adaptive Control of Nonholonomic Mobile Robots with Input Saturation
Chapter 3 : Tracking Control of Underactuated Ships with Input Saturation
Chapter 4 : Stabilization Control of Underactuated Ships with Input Saturation
Chapter 5 : Global Adaptive Stabilization Control of Underactuated Ships with Nussbaum Function
Chapter 6 : Adaptive Output Feedback Control of Nonholonomic Mobile Robots
Chapter 7 : Adaptive Output Feedback Control of Underactuated Ships
Chapter 8 : Adaptive Fault-Tolerant Control of Underactuated Ships with Actuator Redundancy
Chapter 9 : Adaptive Fault-Tolerant Control of Underactuated Ships without Actuator Redundancy
Chapter 10 : Adaptive Formation Control of Multiple Nonholonomic Mobile Robots
Chapter 11 : Adaptive Flocking Control of Multiple Nonholonomic Mobile Robots
Index
