Analysis and Control of Underactuated Mechanical Systems

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 system...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autores principales: Choukchou-Braham, Amal (Autor), Cherki, Brahim (Autor), Djemaï, Mohamed (Autor), Busawon, Krishna (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Cham : Springer International Publishing : Imprint: Springer, 2014.
Edición:1st ed. 2014.
Temas:
Control engineering.
Robotics.
Automation.
Aerospace engineering.
Astronautics.
Automotive engineering.
Control, Robotics, Automation.
Aerospace Technology and Astronautics.
Automotive Engineering.
Acceso en línea:Texto Completo
Tabla de Contenidos:
  • Introduction
  • Generalities and State-of-the-Art on the Control of Underactuated Mechanical Systems.- Underactuated Mechanical Systems from the Langrangian formalism
  • Classification of Underactuated Mechanical Systems
  • Control Design Schemes for Underactuated Mechanical Systems.- Appendices: Theoretical Background on Nonlinear System Stability and Control
  • Limits of Linearization and Dangers of Destabilization
  • Differential Geometry
  • Controllability of Continuous Systems.

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