Adaptive and Fault-Tolerant Control of Underactuated Nonlinear Systems Automation and Control Engineering Series

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.

Introduction. Adaptive Control of Mobile Robots with Input Saturation. Tracking Control of Ships with Input Saturation. Stabilization Control of Ships with Input Saturation. Global Adaptive Stabilization Control with Nussbaum Function. Adaptive Output Feedback Control of Mobile Robots. Adaptive Output Feedback Control of Ships. Adaptive Fault-Tolerant Control with Actuator Redundancy. Adaptive Fault-Tolerant Control without Actuator Redundancy. Adaptive Formation Control of Multiple Mobile Robots. Adaptive Flocking Control of Multiple Mobile Robots.

Jiangshuai Huang received his B.Eng. and M.Sc. degree in School of Automation from Huazhong University of Science & Technology, Wuhan, China in July 2007 and August 2009 respectively, and his PhD degree from the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore in May 2015. He joined the Department of Electrical and Computer Engineering, National University of Singapore, Singapore as a research fellow from August 2014 to January 2016 where his main research focused on the modeling and optimization of Singapore national electricity market. He joined the School of Automation, Chongqing University, Chongqing, China and now he is an assistant professor. His research interests include adaptive control, nonlinear systems control, underactuated mechanical system control, and multi-agent system control.

Yong-Duan Song received his Ph.D. degree in electrical and computer engineering from Tennessee Technological University, Cookeville, USA, in 1992. He held a tenured Full Professor position with North Carolina A&T State University, Greensboro, from 1993 to 2008, and a Langley Distinguished Professor position with the National Institute of Aerospace, Hampton, VA, from 2005 to 2008. He is now the Dean of School of Automation, Chongqing University, and the Founding Director of the Institute of Smart Systems and Renewable Energy, Chongqing University. He was one of the six Langley Distinguished Professors with the National Institute of Aerospace (NIA), Founding Director of Cooperative Systems at NIA. He has served as an Associate Editor/Guest Editor for several prestigious scientific journals. Prof. Song has received several competitive research awards from the National Science Foundation, the National Aeronautics and Space Administration, the U.S. Air Force Office, the U.S. Army Research Office, and the U.S. Naval Research Office. His research interests include intelligent systems, guidance navigation