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.
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)
Innehållsförteckning
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.
