Analysis and Control of Underactuated Mechanical Systems

• Κύριοι συγγραφείς: Choukchou-Braham, Amal (Συγγραφέας), Cherki, Brahim (Συγγραφέας), Djemaï, Mohamed (Συγγραφέας), Busawon, Krishna (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2014.
• Θέματα: Engineering.; Automotive engineering.; Aerospace engineering.; Astronautics.; Robotics.; Automation.; Robotics and Automation.; Aerospace Technology and Astronautics.; Automotive Engineering.

This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such system...

Πίνακας περιεχομένων:

• Introduction
• Generalities and State-of-the-Art on the Control of Underactuated Mechanical Systems.- Underactuated Mechanical Systems from the Langrangian formalism
• Classification of Underactuated Mechanical Systems
• Control Design Schemes for Underactuated Mechanical Systems.- Appendices: Theoretical Background on Nonlinear System Stability and Control
• Limits of Linearization and Dangers of Destabilization
• Differential Geometry
• Controllability of Continuous Systems.