ENGLISH

Motion control of underactuated mechanical systems

By Javier , Aguilar-Avelar , Carlos; Moreno-Valenzuela

Book information

Publisher
Springer
Year
2018
ISBN
978-3-319-58319-8, 3319583190, 978-3-319-58318-1
Language
english
Format
PDF
Filesize
13 MB (14007937 bytes)
Series
International series on intelligent systems control and automation--science and engineering 88
Pages
223\230
Time added
2017-10-15 16:00:00
Automatic control;TECHNOLOGY & ENGINEERING / Engin

Description

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. . Read more... Abstract: This volume is the first to present a unified perspective on the control of underactuated mechanical systems. 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. Read more... Front Matter....Pages i-xi Introduction....Pages 1-12 Preliminaries....Pages 13-25 Identification of Underactuated Mechanical Systems....Pages 27-49 Composite Control of the Furuta Pendulum....Pages 51-68 Feedback Linearization Control of the Furuta Pendulum....Pages 69-92 Adaptive Neural Network Control of the Furuta Pendulum....Pages 93-118 Composite Control of the IWP....Pages 119-140 Feedback Linearization Control of the IWP....Pages 141-158 Adaptive Control of the IWP....Pages 159-176 Discussion on Generalizations and Further Research....Pages 177-187 Back Matter....Pages 189-223

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