Nonlinear Systems: Techniques for Dynamical Analysis and Control

This treatment of modern topics related to the control of nonlinear systems is a collection of contributions celebrating the work of Professor Henk Nijmeijer and honoring his 60^th birthday. It addresses several topics that have been the core of Professor Nijmeijer’s work, namely: the control of nonlinear systems, geometric control theory, synchronization, coordinated control, convergent systems and the control of underactuated systems. The book presents recent advances in these areas, contributed by leading international researchers in systems and control. In addition to the theoretical questions treated in the text, particular attention is paid to a number of applications including (mobile) robotics, marine vehicles, neural dynamics and mechanical systems generally.

This volume provides a broad picture of the analysis and control of nonlinear systems for scientists and engineers with an interest in the interdisciplinary field of systems and control theory. The reader will benefit from the expert participants’ ideas on important open problems with contributions that represent the state of the art in nonlinear control.

Table of Contents

Part I Nonlinear Control Systems
Chapter 1 Controlled Invariant Distributions and Differential Properties
Chapter 2 Some Recent Results on Distributed Control of Nonlinear Systems
Chapter 3 Convergent Systems: Nonlinear Simplicity

Part II Synchronization in Networked Systems
Chapter 4 Synchronisation and Emergent Behaviour in Networks of Heterogeneous Systems: A Control Theory Perspective
Chapter 5 Anticipating Synchronization and State Predictor for Nonlinear Systems
Chapter 6 Delays Effects in Dynamical Systems and Networks: Analysis and Control Interpretations
Chapter 7 Emergence of Oscillations in Networks of Time-Delay Coupled Inert Systems

Part III Control of Nonlinear Mechanical Systems
Chapter 8 Leader–Follower Synchronisation for a Class of Underactuated Systems
Chapter 9 Position Control via Force Feedback in the Port-Hamiltonian Framework
Chapter 10 Endogenous Configuration Space Approach: An Intersection of Robotics and Control Theory