Switched Finite Time Control of a Class of Underactuated Systems

• Main Authors: Banavar, Ravi N. (Author), Sankaranarayanan, Velupillai (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2006.
• Series: Lecture Notes in Control and Information Science, 333
• Subjects: Engineering.; System theory.; Control engineering.; Robotics.; Mechatronics.; Engineering, general.; Systems Theory, Control.; Control, Robotics, Mechatronics.

The control of mechanical systems with constraints has been a topic of intense research in the control and dynamical systems community for the past two decades. In particular, systems with velocity and/or acceleration level constraints which appear in many applications like - robotics, spacecrafts,...

Table of Contents:

• Mathematical preliminaries
• A switched finite-time controller design methodology
• Alternative control strategies for the NI
• Switched stabilization of a hovercraft
• Output feedback stabilization of a mobile robot.