Motion Control of Underactuated Mechanical Systems (Intelligent Systems, Control and Automation: Science and Engineering)
| Author | : | |
| Rating | : | 4.81 (927 Votes) |
| Asin | : | 3319583182 |
| Format Type | : | paperback |
| Number of Pages | : | 223 Pages |
| Publish Date | : | 2014-06-02 |
| Language | : | English |
DESCRIPTION:
. 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. 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. 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. 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. This volume is the first to present a unified perspective on the control of underactuated mechanical systems
. 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. 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. From the