Non-linear Control for Underactuated Mechanical Systems

Inbunden, Engelska, 2001

Av Rogelio Lozano, Isabelle Fantoni, R. Lozano, I. Fantoni

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This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

Produktinformation

Utgivningsdatum2001-10-15
Mått170 x 241 x 25 mm
Vikt700 g
FormatInbunden
SpråkEngelska
SerieCommunications and Control Engineering
Antal sidor306
FörlagSpringer London Ltd
ISBN9781852334239

Tillhör följande kategorier

Introduction.- Theoretical preliminaries.- The cart-pole system.- A convey-crane system.- The pendubot system.- The furuta pendulum.- The reaction wheel pendulum.- The planar flexible-joint robot.- The PPR planar manipulator.- The ball and beam acting on the ball.- The hovercraft model.- The PVTOL aircraft.- Helicopter on a platform.- Lagrangian helicpoter model.- Newtonian helicopter model.- Bibliography.- Index.

From the reviews of the first edition: "This is an application-oriented book that is intended for engineers, graduate students, and researchers who are interested in the design of nonlinear controllers for underactuated mechanical systems. ! Non-linear Control for Underactuated Mechanical Systems is an excellent source for the development of control strategies for an important class of problems, viz, the underactuated mechanical systems. The book is clearly written, and the ideas are conveyed well by the authors. ! It is strongly recommended for individuals and libraries." (SC Sinha, Applied Mechanics Reviews, Vol. 55 (4), 2002)