Switched Finite Time Control of a Class of Underactuated Systems

The control of mechanical systems with constraints has been a topic of intense research in the control and dynamical systems community for the past two decades. In particular, systems with velocity and/or acceleration level constraints which appear in many applications like - robotics, spacecrafts,...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autores principales: Banavar, Ravi N. (Autor), Sankaranarayanan, Velupillai (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2006.
Edición:1st ed. 2006.
Colección:Lecture Notes in Control and Information Sciences, 333
Temas:
Engineering.
System theory.
Control theory.
Control engineering.
Robotics.
Automation.
Technology and Engineering.
Systems Theory, Control .
Control, Robotics, Automation.
Acceso en línea:Texto Completo

MARC

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245 1 0 |a Switched Finite Time Control of a Class of Underactuated Systems  |h [electronic resource] /  |c by Ravi N. Banavar, Velupillai Sankaranarayanan. 
250 |a 1st ed. 2006. 
264 1 |a Berlin, Heidelberg :  |b Springer Berlin Heidelberg :  |b Imprint: Springer,  |c 2006. 
300 |a X, 102 p. 51 illus.  |b online resource. 
336 |a text  |b txt  |2 rdacontent 
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490 1 |a Lecture Notes in Control and Information Sciences,  |x 1610-7411 ;  |v 333 
505 0 |a Mathematical preliminaries -- A switched finite-time controller design methodology -- Alternative control strategies for the NI -- Switched stabilization of a hovercraft -- Output feedback stabilization of a mobile robot. 
520 |a The control of mechanical systems with constraints has been a topic of intense research in the control and dynamical systems community for the past two decades. In particular, systems with velocity and/or acceleration level constraints which appear in many applications like - robotics, spacecrafts, launch vehicles, underwater vehicles - have been studied intensively. This monograph is a self-contained exposition on a switched, finite-time, control strategy for this class of systems. Beginning with basic definitions and mathematical preliminaries, the monograph works its way up to the main control algorithm. Three well-studied applications are chosen to demonstrate the algorithm. Other facets of the algorithm and an alternate algorithm are also briefly touched upon. The monograph is intended for graduate students and researchers in the area of nonlinear control and dynamical systems. 
650 0 |a Engineering. 
650 0 |a System theory. 
650 0 |a Control theory. 
650 0 |a Control engineering. 
650 0 |a Robotics. 
650 0 |a Automation. 
650 1 4 |a Technology and Engineering. 
650 2 4 |a Systems Theory, Control . 
650 2 4 |a Control, Robotics, Automation. 
700 1 |a Sankaranarayanan, Velupillai.  |e author.  |4 aut  |4 http://id.loc.gov/vocabulary/relators/aut 
710 2 |a SpringerLink (Online service) 
773 0 |t Springer Nature eBook 
776 0 8 |i Printed edition:  |z 9783540821410 
776 0 8 |i Printed edition:  |z 9783540327998 
830 0 |a Lecture Notes in Control and Information Sciences,  |x 1610-7411 ;  |v 333 
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950 |a Engineering (SpringerNature-11647) 
950 |a Engineering (R0) (SpringerNature-43712) 

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