Authors:
Shows the reader how to impose an ordered method of control and observer design on a group of systems that usually require a case-by-case approach, saving time, computational effort and expense
Extensively illustrated with MATLAB®/Simulink® simulations exemplifying the effectiveness of the methods described
Applicable to a disparate group of systems ranging from walking robots to aircraft
Includes supplementary material: sn.pub/extras
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Table of contents (5 chapters)
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Front Matter
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Back Matter
About this book
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 systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking.
The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint.
Readers interested in aircraft, vehicle control or various forms of walking robot will be able to learn from Underactuated Mechanical Systems how to estimate the degree of complexity required in the control design of several classes of underactuated systems and proceed on to further generate more systematic control laws according to its methods of analysis.
Reviews
“The aim of the book consists of presenting reference material for researchers and students working in the field of underactuated mechanical systems. The book can also serve as a complementary reading for post-graduate students studying control systems theory. … The book is well written and contains new and classical results in the analysis and control of underactuated mechanical systems, showing the differences and relations from different points of view.” (Leonardo Colombo, Mathematical Reviews, February, 2016)
Authors and Affiliations
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University of Aboubekr Belkaid, Chetouane, Tlemcen, Algeria
Amal Choukchou-Braham, Brahim Cherki
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LAMIH ASHM, University of Valenciennes and Hainaut-Cambrésis, Valenciennes, France
Mohamed Djemaï
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Faculty of Engineering and Environment, Northumbria University, Newcastle-upon-Tyne, United Kingdom
Krishna Busawon
Bibliographic Information
Book Title: Analysis and Control of Underactuated Mechanical Systems
Authors: Amal Choukchou-Braham, Brahim Cherki, Mohamed Djemaï, Krishna Busawon
DOI: https://doi.org/10.1007/978-3-319-02636-7
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2014
Hardcover ISBN: 978-3-319-02635-0Published: 25 November 2013
Softcover ISBN: 978-3-319-37755-1Published: 17 September 2016
eBook ISBN: 978-3-319-02636-7Published: 18 November 2013
Edition Number: 1
Number of Pages: XV, 138
Number of Illustrations: 45 b/w illustrations, 10 illustrations in colour
Topics: Robotics and Automation, Aerospace Technology and Astronautics, Automotive Engineering