Adaptive Control of Underactuated Mechanical Systems

Nonfiction, Science & Nature, Technology, Robotics, Engineering, Mechanical
Cover of the book Adaptive Control of Underactuated Mechanical Systems by An-Chyau Huang, Yung-Feng Chen, Chen-Yu Kai, World Scientific Publishing Company
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Author: An-Chyau Huang, Yung-Feng Chen, Chen-Yu Kai ISBN: 9789814663564
Publisher: World Scientific Publishing Company Publication: January 29, 2015
Imprint: WSPC Language: English
Author: An-Chyau Huang, Yung-Feng Chen, Chen-Yu Kai
ISBN: 9789814663564
Publisher: World Scientific Publishing Company
Publication: January 29, 2015
Imprint: WSPC
Language: English

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.

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

Readership: Graduate students, researchers, and academics in control engineering, mechanical engineering, electrical & electronic engineering, and optimization and control theory.

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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.

Contents:

Readership: Graduate students, researchers, and academics in control engineering, mechanical engineering, electrical & electronic engineering, and optimization and control theory.

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