Adaptive Control Of Underactuated Mechanical Systems (inbunden)
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Format
Inbunden (Hardback)
Språk
Engelska
Antal sidor
228
Utgivningsdatum
2015-03-26
Förlag
World Scientific Publishing Co Pte Ltd
Dimensioner
234 x 158 x 25 mm
Vikt
544 g
Antal komponenter
1
ISBN
9789814663540
Adaptive Control Of Underactuated Mechanical Systems (inbunden)

Adaptive Control Of Underactuated Mechanical Systems

Inbunden Engelska, 2015-03-26
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In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems.
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Innehållsförteckning

Introduction; Preliminaries; Underactuated System Dynamics and Coordinate Transformation; Controller Design; Cart Pole System; Overhead Cranes; TORA System; Rotary Inverted Pendulum; Vibration Absorber; Pendubot; Bibliography; Index;