Motion Control of Underactuated Mechanical Systems 1st ed. 2018 Edition

Ebook Details


Javier Moreno-Valenzuela, Carlos Aguilar-Avelar

Year 2017
Pages 223
Publisher Springer
Language en
ISBN 9783319583181
File Size 10.87 MB
File Format PDF
Download Counter 100
Amazon Link

Ebook Description

This volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines. Â