Geometric Control of Underactuated Mechanical Systems with Application Focus on Bipedal Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Geometric Control of Underactuated Mechanical Systems with Application Focus on Bipedal Robots write by Tan Chen. This book was released on 2021. Geometric Control of Underactuated Mechanical Systems with Application Focus on Bipedal Robots available in PDF, EPUB and Kindle.
Geometric Control of Mechanical Systems
Geometric Control of Mechanical Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Geometric Control of Mechanical Systems write by Francesco Bullo. This book was released on 2019-06-12. Geometric Control of Mechanical Systems available in PDF, EPUB and Kindle. The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.
Analysis and Control of Underactuated Mechanical Systems
Analysis and Control of Underactuated Mechanical Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Analysis and Control of Underactuated Mechanical Systems write by Amal Choukchou-Braham. This book was released on 2013-11-18. Analysis and Control of Underactuated Mechanical Systems available in PDF, EPUB and Kindle. 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
Geometric Analysis and Control of Underactuated Mechanical Systems
Geometric Analysis and Control of Underactuated Mechanical Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Geometric Analysis and Control of Underactuated Mechanical Systems write by Jason Nightingale. This book was released on 2012. Geometric Analysis and Control of Underactuated Mechanical Systems available in PDF, EPUB and Kindle.
Adaptive Control Of Underactuated Mechanical Systems
Adaptive Control Of Underactuated Mechanical Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Adaptive Control Of Underactuated Mechanical Systems write by An-chyau Huang. This book was released on 2015-01-29. Adaptive Control Of Underactuated Mechanical Systems available in PDF, EPUB and Kindle. 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.
