Non-linear Control for Underactuated Mechanical Systems

Non-linear Control for Underactuated Mechanical Systems
Title Non-linear Control for Underactuated Mechanical Systems PDF eBook
Author Isabelle Fantoni
Publisher Springer Science & Business Media
Pages 302
Release 2012-12-06
Genre Technology & Engineering
ISBN 1447101774

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This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

Non-linear Control for Underactuated Mechanical Systems

Non-linear Control for Underactuated Mechanical Systems
Title Non-linear Control for Underactuated Mechanical Systems PDF eBook
Author Isabelle Fantoni
Publisher Springer Science & Business Media
Pages 320
Release 2002
Genre Computers
ISBN 9781852334239

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This book deals with the application of modern control theory to some important underactuated mechanical systems. It presents modelling and control of the following systems: the inverted pendulum; a convey-crane system; the pendubot system; the Furuta pendulum; the inertia wheel pendulum; the planar flexible-joint robot; the planar manipulator with two prismatic and one revolute joints; the ball & beam system; the hovercraft model; the planar vertical and take-off landing (PVTOL) aircraft; the helicopter model on a platform; the helicopter model. In every case the model is obtained in detail using either the Euler-Lagrange formulation or the Newton's second law. The text develops control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques. This book is designed for PhD students and researchers in the areas of non-linear control systems, mechanical systems, robotics and control of helicopters. It will help the reader gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

Non-Linear Control for Underactuated Mechanical Systems

Non-Linear Control for Underactuated Mechanical Systems
Title Non-Linear Control for Underactuated Mechanical Systems PDF eBook
Author Isabelle Fantoni
Publisher
Pages 312
Release 2001-11-28
Genre
ISBN 9781447101789

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Motion Control of Underactuated Mechanical Systems

Motion Control of Underactuated Mechanical Systems
Title Motion Control of Underactuated Mechanical Systems PDF eBook
Author Javier Moreno-Valenzuela
Publisher Springer
Pages 230
Release 2017-07-11
Genre Technology & Engineering
ISBN 3319583190

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This volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines.

Nonlinear Control of Engineering Systems

Nonlinear Control of Engineering Systems
Title Nonlinear Control of Engineering Systems PDF eBook
Author Warren E. Dixon
Publisher Springer Science & Business Media
Pages 410
Release 2013-06-29
Genre Technology & Engineering
ISBN 1461200318

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This practical yet rigorous book provides a development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.

Analysis and Control of Underactuated Mechanical Systems

Analysis and Control of Underactuated Mechanical Systems
Title Analysis and Control of Underactuated Mechanical Systems PDF eBook
Author Amal Choukchou-Braham
Publisher Springer Science & Business Media
Pages 148
Release 2013-11-18
Genre Technology & Engineering
ISBN 3319026364

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This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. The text is illustrated with MATLABsup®/sup/Simulink® simulations that demonstrate the effectiveness of the methods detailed./ppReaders interested in aircraft, vehicle control or various forms of walking robot will be able to learn from iUnderactuated Mechanical Systems

Adaptive Control Of Underactuated Mechanical Systems

Adaptive Control Of Underactuated Mechanical Systems
Title Adaptive Control Of Underactuated Mechanical Systems PDF eBook
Author An-chyau Huang
Publisher World Scientific
Pages 229
Release 2015-01-29
Genre Technology & Engineering
ISBN 9814663565

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In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems.