Non-linear Control for Underactuated Mechanical Systems

✍ Scribed by Isabelle Fantoni, Rogelio Lozano (auth.)

• Publisher: Springer-Verlag London
• Year: 2002
• Tongue: English
• Leaves: 301
• Series: Communications and Control Engineering
• Edition: 1
• Category: Library

✦ Synopsis

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)

✦ Table of Contents

Front Matter....Pages i-xi
Introduction....Pages 1-9
Theoretical preliminaries....Pages 11-20
The cart-pole system....Pages 21-42
A convey-crane system....Pages 43-51
The pendubot system....Pages 53-72
The Furuta pendulum....Pages 73-88
The reaction wheel pendulum....Pages 89-106
The planar flexible-joint robot....Pages 107-128
The PPR planar manipulator....Pages 129-142
The ball and beam acting on the ball....Pages 143-154
The hovercraft model....Pages 155-171
The PVTOL aircraft....Pages 173-194
Helicopter on a platform....Pages 195-223
Lagrangian helicopter model....Pages 225-254
Newtonian helicopter model....Pages 255-279
Back Matter....Pages 281-295

✦ Subjects

Control; Mechanical Engineering; Computational Intelligence