Overview
- Presents a switched finite time control philosophy to stabilize a class of underactuated systems
Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 333)
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Table of contents (7 chapters)
Keywords
About this book
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, launch vehicles, underwater vehicles - have been studied intensively. This monograph is a self-contained exposition on a switched, finite-time, control strategy for this class of systems. Beginning with basic definitions and mathematical preliminaries, the monograph works its way up to the main control algorithm. Three well-studied applications are chosen to demonstrate the algorithm. Other facets of the algorithm and an alternate algorithm are also briefly touched upon.
The monograph is intended for graduate students and researchers in the area of nonlinear control and dynamical systems.
Reviews
From the reviews:
"This is a monograph focusing on the control of a class of undergraduate mechanical systems … which are not linearly controllable. … The book is recommended to researchers, doctoral students and application engineers interested in the automatic control of underactuated mechanical systems." (Octavian Pastravanu, Zentralblatt MATH, Vol. 1121 (23), 2007)
Bibliographic Information
Book Title: Switched Finite Time Control of a Class of Underactuated Systems
Authors: Ravi N. Banavar, Velupillai Sankaranarayanan
Series Title: Lecture Notes in Control and Information Sciences
DOI: https://doi.org/10.1007/11616269
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2006
Softcover ISBN: 978-3-540-32799-8Published: 04 May 2006
eBook ISBN: 978-3-540-32852-0Published: 20 July 2006
Series ISSN: 0170-8643
Series E-ISSN: 1610-7411
Edition Number: 1
Number of Pages: X, 102
Number of Illustrations: 51 b/w illustrations
Topics: Engineering, general, Systems Theory, Control, Control, Robotics, Mechatronics