Motion Control of Underactuated Mechanical Systems

Nonfiction, Science & Nature, Technology, Automation, Science, Physics, Mechanics
Cover of the book Motion Control of Underactuated Mechanical Systems by Javier Moreno-Valenzuela, Carlos Aguilar-Avelar, Springer International Publishing
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Author: Javier Moreno-Valenzuela, Carlos Aguilar-Avelar ISBN: 9783319583198
Publisher: Springer International Publishing Publication: July 11, 2017
Imprint: Springer Language: English
Author: Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
ISBN: 9783319583198
Publisher: Springer International Publishing
Publication: July 11, 2017
Imprint: Springer
Language: English

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.  

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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.  

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