Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehicles - 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 Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehicles write by Reza Olfati-Saber. This book was released on 2001. Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehicles available in PDF, EPUB and Kindle.
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 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.
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
Nonlinear Control of Vehicles and Robots
Nonlinear Control of Vehicles and 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 Nonlinear Control of Vehicles and Robots write by Béla Lantos. This book was released on 2010-12-01. Nonlinear Control of Vehicles and Robots available in PDF, EPUB and Kindle. Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.
Global Stabilization Using LSS-Theorem
Global Stabilization Using LSS-Theorem - 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 Global Stabilization Using LSS-Theorem write by Abdulrazzak Selman. This book was released on 2011. Global Stabilization Using LSS-Theorem available in PDF, EPUB and Kindle. Underactuated mechanical systems are gaining interest as they can sometimes provide the desired motion or functionality at reduced cost due to their using fewer expensive actuators. The term "underactuated" refers to the fact that such mechanical systems have fewer actuators than degrees of freedom, which makes them very difficult to control. Moreover, underactuated robots have nonlinear dynamics which must be tackled with nonlinear control techniques. Furthermore, control theory for underactuated mechanical systems has been an active area of research for the past 15-20 years. Most of the research has focused on local and global asymptotic stabilization by feedback. Underactuated systems can either possess nonminimum phase or minimum phase characteristics. For minimum phase underactuated systems, the stabilization problem is rather simple and many existing control design methodologies have been proved powerful in providing a solution to this problem.For ...
