Description

Book Synopsis
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.

Table of Contents
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;

Adaptive Control Of Underactuated Mechanical

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    A Hardback by An-chyau Huang, Yung-feng Chen, Chen-yu Kai

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      Book details

      Publisher World Scientific Publishing Co Pte Ltd
      Published 26 March 2015
      ISBN-13 9789814663540
      978-9814663540
      ISBN-10 9814663549

      Description

      Book Synopsis
      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.

      Table of Contents
      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;

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