Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems

• Main Authors: Rudra, Shubhobrata (Author), Barai, Ranjit Kumar (Author), Maitra, Madhubanti (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Singapore : Springer Singapore : Imprint: Springer, 2017.
• Subjects: Engineering.; Vibration.; Dynamical systems.; Dynamics.; Control engineering.; Electrical engineering.; Vibration, Dynamical Systems, Control.; Control.; Electrical Engineering.

This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dyn...

Table of Contents:

• Introduction
• Theoretical Preliminaries
• Block Backstepping Control of the Underactuated Mechanical Systems
• Applications on the 2-DOF Underactuated Mechanical Systems: Some Case Studies
• Applications on the Underactuated Mechanical Systems with Higher Degrees of Freedom: Some Case Studies
• Scope of the Future Research.