Wiley in Dynamics and Control of Electromechanical Systems

A comprehensive guide to formation control of multi-agent systems using rigid graph theory. This book is the first to provide a comprehensive and unified treatment of the subject of graph rigidity-based formation control of multi-agent systems. Such systems are relevant to a variety of emerging engineering applications, including unmanned robotic vehicles and mobile sensor networks. Graph theory, and rigid graphs in particular, provides a natural tool for describing the multi-agent formation shape as well as the inter-agent sensing, communication, and control topology. Beginning with an introduction to rigid graph theory, the contents of the book are organized by the agent dynamic model (single integrator, double integrator, and mechanical dynamics) and by the type of formation problem (formation acquisition, formation manoeuvring, and target interception). The book presents the material in ascending level of difficulty and in a self-contained manner; thus, facilitating reader understanding. Key features: • Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. • Considers different agent models and formation control problems. • Control designs throughout the book progressively build upon each other. • Provides a primer on rigid graph theory. • Combines theory, computer simulations, and experimental results. “Formation Control of Multi-Agent Systems: A Graph Rigidity Approach” is targeted at researchers and graduate students in the areas of control systems and robotics. Prerequisite knowledge includes linear algebra, matrix theory, control systems, and nonlinear systems.

Systematically presents the input-output finite-time stability (IO-FTS) analysis of dynamical systems, covering issues of analysis, design and robustness. The interest in finite-time control has continuously grown in the last fifteen years. This book systematically presents the input-output finite-time stability (IO-FTS) analysis of dynamical systems, with specific reference to linear time-varying systems and hybrid systems. It discusses analysis, design and robustness issues, and includes applications to real world engineering problems. While classical FTS has an important theoretical significance, IO-FTS is a more practical concept, which is more suitable for real engineering applications, the goal of the research on this topic in the coming years. Key features: • Includes applications to real world engineering problems. • Input-output finite-time stability (IO-FTS) is a practical concept, useful to study the behavior of a dynamical system within a finite interval of time. • Computationally tractable conditions are provided that render the technique applicable to time-invariant as well as time varying and impulsive (i.e. switching) systems. • The LMIs formulation allows mixing the IO-FTS approach with existing control techniques (e. g. H∞ control, optimal control, pole placement, etc.). This book is essential reading for university researchers as well as post-graduate engineers practicing in the field of robust process control in research centers and industries. Topics dealt with in the book could also be taught at the level of advanced control courses for graduate students in the department of electrical and computer engineering, mechanical engineering, aeronautics and astronautics, and applied mathematics.

Data-driven Inferential Solutions for Control System Fault Diagnosis A typical modern process system consists of hundreds or even thousands of control loops, which are overwhelming for plant personnel to monitor. The main objectives of this book are to establish a new framework for control system fault diagnosis, to synthesize observations of different monitors with a prior knowledge, and to pinpoint possible abnormal sources on the basis of Bayesian theory. “Process Control System Fault Diagnosis: A Bayesian Approach” consolidates results developed by the authors, along with the fundamentals, and presents them in a systematic way. The book provides a comprehensive coverage of various Bayesian methods for control system fault diagnosis, along with a detailed tutorial. The book is useful for graduate students and researchers as a monograph and as a reference for state-of-the-art techniques in control system performance monitoring and fault diagnosis. Since several self-contained practical examples are included in the book, it also provides a place for practicing engineers to look for solutions to their daily monitoring and diagnosis problems. Key features: • A comprehensive coverage of Bayesian Inference for control system fault diagnosis. • Theory and applications are self-contained. • Provides detailed algorithms and sample Matlab codes. • Theory is illustrated through benchmark simulation examples, pilot-scale experiments and industrial application. “Process Control System Fault Diagnosis: A Bayesian Approach” is a comprehensive guide for graduate students, practicing engineers, and researchers who are interests in applying theory to practice.

“Algebraic Identification and Estimation Methods in Feedback Control Systems” presents a model-based algebraic approach to online parameter and state estimation in uncertain dynamic feedback control systems. This approach evades the mathematical intricacies of the traditional stochastic approach, proposing a direct model-based scheme with several easy-to-implement computational advantages. The approach can be used with continuous and discrete, linear and nonlinear, mono-variable and multi-variable systems. The estimators based on this approach are not of asymptotic nature, and do not require any statistical knowledge of the corrupting noises to achieve good performance in a noisy environment. These estimators are fast, robust to structured perturbations, and easy to combine with classical or sophisticated control laws. This book uses module theory, differential algebra, and operational calculus in an easy-to-understand manner and also details how to apply these in the context of feedback control systems. A wide variety of examples, including mechanical systems, power converters, electric motors, and chaotic systems, are also included to illustrate the algebraic methodology. Key features: • Presents a radically new approach to online parameter and state estimation. • Enables the reader to master the use and understand the consequences of the highly theoretical differential algebraic viewpoint in control systems theory. • Includes examples in a variety of physical applications with experimental results. • Covers the latest developments and applications. “Algebraic Identification and Estimation Methods in Feedback Control Systems” is a comprehensive reference for researchers and practitioners working in the area of automatic control, and is also a useful source of information for graduate and undergraduate students.

• Unifies existing and emerging concepts concerning multi-objective control and stochastic control with engineering-oriented phenomena • Establishes a unified theoretical framework for control and filtering problems for a class of discrete-time nonlinear stochastic systems with consideration to performance • Includes case studies of several nonlinear stochastic systems • Investigates the phenomena of incomplete information, including missing/degraded measurements, actuator failures and sensor saturations • Considers both time-invariant systems and time-varying systems • Exploits newly developed techniques to handle the emerging mathematical and computational challenges

In control theory, sliding mode control (SMC) is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal that forces the system to slide along a cross-section of the system's normal behaviour. In recent years, SMC has been successfully applied to a wide variety of practical engineering systems including robot manipulators, aircraft, underwater vehicles, spacecraft, flexible space structures, electrical motors, power systems, and automotive engines. “Sliding Mode Control of Uncertain Parameter-Switching Hybrid Systems” addresses the increasing demand for developing SMC technologies and comprehensively presents the new, state-of-the-art sliding mode control methodologies for uncertain parameter-switching hybrid systems. It establishes a unified framework for SMC of Markovian jump singular systems and proposes new SMC methodologies based on the analysis results. A series of problems are solved with new approaches for analysis and synthesis of switched hybrid systems, including stability analysis and stabilization, dynamic output feedback control, and SMC. A set of newly developed techniques (e.g., average dwell time, piecewise Lyapunov function, parameter-dependent Lyapunov function, cone complementary linearization) are exploited to handle the emerging mathematical/computational challenges. Key features: • Covers new concepts, new models and new methodologies with theoretical significance in system analysis and control synthesis • Includes recent advances in Markovian jump systems, switched hybrid systems, singular systems, stochastic systems and time-delay systems • Includes solved problems • Introduces advanced techniques “Sliding Mode Control of Uncertain Parameter-Switching Hybrid Systems” is a comprehensive reference for researchers and practitioners working in control engineering, system sciences and applied mathematics, and is also a useful source of information for senior undergraduate and graduates studying in these areas.