Control of Underactuated Mechanical Systems : Stabilisation and Limit Cycle Generation

Afef (University of Tunis El Manar Hfaiedh

ISBN 10: 0443240205 / ISBN 13: 9780443240201

Edité par Elsevier Science Publishing Co Inc Jun 2025, 2025

A propos de cet article

Neuware - Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generationclearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS),addressing control design challenges and demonstrating concepts through real-time experiments.The book begins with advancements in UMS, introducing key concepts such as stabilization and limitcycle generation, supported by literature examples. It then focuses on the inertia wheel invertedpendulum, presenting a detailed discussion. The second part tackles stabilization, offering variouscontrol solutions validated through numerical simulations and real-time experiments. The finalpart addresses stable limit cycle generation, detailing three proposed control solutions and theirvalidation through different case studies.This book is a valuable resource for PhD and Master students, engineers, researchers, and educators.It provides guidance in robotics and automatic control, utilizing a simplified methodology forcontrolling underactuated mechanical systems.

N° de réf. du vendeur 9780443240201

Détails bibliographiques

• Titre: Control of Underactuated Mechanical Systems : Stabilisation and Limit Cycle Generation
• Éditeur: Elsevier Science Publishing Co Inc Jun 2025
• Date de parution: 2025
• Langue: anglais
• ISBN à 10 chiffres: 0443240205
• ISBN à 13 chiffres: 9780443240201
• Reliure: Taschenbuch
• État de l'article: Neu
• Dimensions: 229 L x 152 H x 0 P (en millimètres) 229 millimètres de largeur par 152 millimètres de hauteur par 0 millimètres de profondeur
• Poids: 450 grammes

A propos de ce titre

Synopsis

Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generation
clearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS), addressing control design challenges and demonstrating concepts through real-time experiments.
The book begins with advancements in UMS, introducing key concepts such as stabilization and limit
cycle generation, supported by literature examples. It then focuses on the inertia wheel inverted
pendulum, presenting a detailed discussion. The second part tackles stabilization, offering various
control solutions validated through numerical simulations and real-time experiments. The final
part addresses stable limit cycle generation, detailing three proposed control solutions and their
validation through different case studies.
This book is a valuable resource for PhD and Master students, engineers, researchers, and educators.
It provides guidance in robotics and automatic control, utilizing a simplified methodology for
controlling underactuated mechanical systems.

À propos des auteurs

Afef Hfaiedh received her Master's degree in Automatic Control, Robotics, and Signal Processing in 2015 and her Ph.D. in Automatic Control in 2021. She is a postdoctoral researcher at RISC-LAB and a part-time professor at the University of Tunis El Manar, specializing in nonlinear control applications in robotics and underactuated mechanical systems.

Ahmed Chemori earned his M.Sc. and Ph.D. in Automatic Control from the Grenoble Institute of
Technology in 2001 and 2005, respectively. He has worked as a research and teaching assistant and is currently a senior research scientist at LIRMM, University of Montpellier, focusing on nonlinear control and its applications in robotics.