Non-linear Control for 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 Non-linear Control for Underactuated Mechanical Systems write by Isabelle Fantoni. This book was released on 2012-12-06. Non-linear Control for Underactuated Mechanical Systems available in PDF, EPUB and Kindle. 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 - 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 Non-linear Control for Underactuated Mechanical Systems write by Isabelle Fantoni. This book was released on 2002. Non-linear Control for Underactuated Mechanical Systems available in PDF, EPUB and Kindle. 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 - 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 Non-Linear Control for Underactuated Mechanical Systems write by Isabelle Fantoni. This book was released on 2001-11-28. Non-Linear Control for Underactuated Mechanical Systems available in PDF, EPUB and Kindle.
Motion Control of Underactuated Mechanical Systems
Motion 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 Motion Control of Underactuated Mechanical Systems write by Javier Moreno-Valenzuela. This book was released on 2017-07-11. Motion Control of Underactuated Mechanical Systems available in PDF, EPUB and Kindle. 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.
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
