Non-linear Control for Underactuated Mechanical Systems
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Author
Contributions
- Lozano, Rogelio - Contributor
Publication
2002 - Springer London, London, United Kingdom
Language
English
Word Count
73,750 words, Guess
Page Count
295 pages
Physical Format
Electronic resource
Identifiers
- Internet Archivenonlinearcontrol00fant
- ISBN-101447110862
- ISBN-101447101774
- ISBN-139781447110866
- ISBN-139781447101772
and 4 more
- OCLC Control Number853256615
- Better World Books9781447110866
- Better World Books9781447101772
- Open LibraryOL27077543M
Classifications
- DDC629.8
- LCCTJ212-225
- LCCTJ1-1570TJ212-225Q34
and 1 more
- LCCTJ1-1570
Description
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. We develop control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques. This book will be of great value 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.
Series Statement
- Communications and Control Engineering
Other Editions
- Non-linear Control for Underactuated Mechanical Systems
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