Overview
- Studies the relatively new topic of motion control of underactuated systems
- Presents a theory that helps the readers to develop their own algorithms
- Offers parametric identification and real time experimental results for each algorithm
- Includes supplementary material: sn.pub/extras
Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering (ISCA, volume 88)
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Table of contents (10 chapters)
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Front Matter
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Back Matter
Keywords
About this book
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-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines.
Authors and Affiliations
Bibliographic Information
Book Title: Motion Control of Underactuated Mechanical Systems
Authors: Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
Series Title: Intelligent Systems, Control and Automation: Science and Engineering
DOI: https://doi.org/10.1007/978-3-319-58319-8
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing AG 2018
Hardcover ISBN: 978-3-319-58318-1Published: 27 July 2017
Softcover ISBN: 978-3-319-86375-7Published: 04 August 2018
eBook ISBN: 978-3-319-58319-8Published: 11 July 2017
Series ISSN: 2213-8986
Series E-ISSN: 2213-8994
Edition Number: 1
Number of Pages: XI, 223
Number of Illustrations: 15 b/w illustrations, 66 illustrations in colour
Topics: Control, Robotics, Mechatronics, Classical Mechanics, Mechanical Engineering