Improved Position Control of a Mechanical System Using Terminal Attractors
In this contribution a control law for nonlinear uncertain plants is discussed. The synthesis of the controller combines ideas of the backstepping algorithm and terminal sliding-mode control. Latter one is introduced to improve the convergence properties
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Mechanics and Model-Based Control of Advanced Engineering Systems
Mechanics and Model-Based Control of Advanced Engineering Systems
Alexander K. Belyaev • Hans Irschik Michael Krommer Editors
Mechanics and Model-Based Control of Advanced Engineering Systems
123
Editors Alexander K. Belyaev Inst. Problems Mech. Eng. RAS State Polytechnic University St. Petersburg, Russia
Hans Irschik Michael Krommer Institute for Technical Mechanics Johannes Kepler University Linz, Austria
ISBN 978-3-7091-1570-1 ISBN 978-3-7091-1571-8 (eBook) DOI 10.1007/978-3-7091-1571-8 Springer Heidelberg New York Dordrecht London Library of Congress Control Number: 2013954385 © Springer-Verlag Wien 2014 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
Foreword
The present volume is dedicated to Professor Nikita F. Morozov, full member (Academician) of the Russian Academy of Sciences on the occasion of his 80th birthday. Professor Nikita F. Morozov is an outstanding Russian scientist, who enriched mechanical science with many achievements in the field of solid mechanics, and an eminent teacher, who created a famous school of mechanics. Professor Morozov was born on July 28, 1932 in Leningrad. His childhood coincided with a harsh time for the country. For the two and a half years of the
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