Motion Control of Underactuated Mechanical Systems

• Main Authors: Moreno-Valenzuela, Javier (Author, http://id.loc.gov/vocabulary/relators/aut), Aguilar-Avelar, Carlos (http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2018.
• Edition: 1st ed. 2018.
• Series: Intelligent Systems, Control and Automation: Science and Engineering, 88
• Subjects: Control engineering.; Robotics.; Mechatronics.; Mechanics.; Mechanical engineering.; Control, Robotics, Mechatronics.; Classical Mechanics.; Mechanical Engineering.

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...