Motion Control of Underactuated Mechanical Systems

• Κύριοι συγγραφείς: Moreno-Valenzuela, Javier (Συγγραφέας, http://id.loc.gov/vocabulary/relators/aut), Aguilar-Avelar, Carlos (http://id.loc.gov/vocabulary/relators/aut)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2018.
• Έκδοση: 1st ed. 2018.
• Σειρά: Intelligent Systems, Control and Automation: Science and Engineering, 88
• Θέματα: 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...

Πίνακας περιεχομένων:

• Preface
• Notation and Acronyms
• 1. Introduction
• 2. Identification of underactuated mechanical systems
• 3. Feedback linearization controller for arm trajectory tracking of the Furuta pendulum
• 4. Adaptive neural network controller for arm trajectory tracking of the Furuta pendulum
• 5. Feedback linearization controller for wheel trajectory tracking of the inertia wheel pendulum
• 6. Adaptive controllers for pendulum trajectory tracking of the inertia wheel pendulum
• Appendices
• References. .