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Autor: Amal Choukchou-Braham
ISBN-13: 9783319026350
Einband: Buch
Seiten: 138
Gewicht: 375 g
Format: 243x163x14 mm
Sprache: Englisch
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This book provides tools for the analysis and control of underactuated systems: those with fewer control inputs than degrees of freedom to be controlled. The text is supplemented with MATLAB® simulations demonstrating the effectiveness of the methods detailed.
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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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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 systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking.
The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen-chain, tree, and isolated vertex-and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint.
Underactuated Mechanical Systems how to estimate the degree of complexity required in the control design of several classes of underactuated systems and proceed on to further generate more systematic control laws according to its methods of analysis.
Autor: Amal Choukchou-Braham
ISBN-13:: 9783319026350
ISBN: 3319026356
Verlag: Springer, Berlin, Springer International Publishing
Gewicht: 375g
Seiten: 138
Sprache: Englisch
Auflage 2014
Sonstiges: Buch, 243x163x14 mm, 45 SW-Abb., 10 Farbabb., 1 Tabellen