โ Scribed by Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra (auth.)
No coin nor oath required. For personal study only.
This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems.
An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.
Front Matter....Pages i-xvii
Introduction....Pages 1-10
Theoretical Preliminaries....Pages 11-30
Block Backstepping Control of the Underactuated Mechanical Systems....Pages 31-52
Applications of the Block Backstepping Algorithm on 2-DOF Underactuated Mechanical Systems: Some Case Studies....Pages 53-108
Applications of the Block Backstepping Algorithm on Underactuated Mechanical Systems with Higher Degrees of Freedom: Some Case Studies....Pages 109-144
Challenges and New Frontiers in the Field of Underactuated Mechanical Systems Control....Pages 145-153
Back Matter....Pages 155-171
Vibration, Dynamical Systems, Control;Control;Electrical Engineering
๐ SIMILAR VOLUMES
<p><P>From the reviews of the first edition:</P><P></P><P>"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. โฆ Non-linear Control for Underactuated Me
Springer, 2001. โ 293 p.<div class="bb-sep"></div>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 fami
<span>This book describes the research progress of the control design about strict-feedback nonlinear systems. A novel gain control design method is proposed, which greatly simplifies the construction procedure of controller for strict-feedback nonlinear systems. The control design problem of strict
This book describes the research progress of the control design about strict-feedback nonlinear systems. A novel gain control design method is proposed, which greatly simplifies the construction procedure of controller for strict-feedback nonlinear systems. The control design problem of strict-feedb
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-fre