Analysis and Control of Underactuated Mechanical Systems - Couverture rigide

Choukchou-Braham, Amal; Cherki, Brahim; Djemaï, Mohamed; Busawon, Krishna

Couverture rigide

ISBN 10 : 3319026356 ISBN 13 : 9783319026350

Editeur : Springer International Publishing AG, 2013

Synopsis

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.

(R)/Simulink(R) simulations that demonstrate the effectiveness of the methods detailed.

Readers interested in aircraft, vehicle control or various forms of walking robot will be able to learn from 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.

A propos du livre

Présentation de l'éditeur

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.

Détails de l'édition

• Éditeur: Springer International Publishing AG
• Date d'édition: 2013
• Langue: anglais
• ISBN 10: 3319026356
• ISBN 13: 9783319026350
• Reliure: Relié
• Nombre de pages: 153
• Coordonnées du fabricant: ProductSafety@springernature.com; ProductSafety@springernature.com; ; Poststr. 9; Darmstadt; 64293; Allemagne