Hybrid Mechatronic Systems: Integrated Design, Modeling and Control

To further improve performances of m systems, mechatronics offers some opportunities. Traditionally, mechatronics deals with how to integrate mechanics and electronics without a systematic approach. This book generalizes the concept of mechatronics into a new concept called hybrid mechatronic system. A hybrid mechatronic system is a system where two or more elements combine to play at least one of the roles such as sensor, actuator, or control mechanism, and contribute to the system behaviour (e.g., trajectory tracking). The common feature with the hybrid mechatronic system is thus the presence of two or more entities responsible for the system behaviour with each having its different strength complementary to the others. The hybrid system is further viewed from the system's structure, behaviour, function, and principle, which has led to the distinction of (1) a hybrid actuation system, (2) a hybrid motion system (mechanism), and (3) a hybrid control system. This book describes a comprehensive study on these three hybrid systems.