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Analysis and Control of Underactuated Mechanical Systems

Authors: Choukchou-Braham, A., Cherki, B., Djemai, M., Busawon, K.

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  • 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
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eBook 85,59 €
price for Spain (gross)
  • ISBN 978-3-319-02636-7
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover 135,19 €
price for Spain (gross)
  • ISBN 978-3-319-02635-0
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
  • The final prices may differ from the prices shown due to specifics of VAT rules
Softcover 106,90 €
price for Spain (gross)
  • ISBN 978-3-319-37755-1
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
  • The final prices may differ from the prices shown due to specifics of VAT rules
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.

®/Simulink® simulations that demonstrate the effectiveness of the methods detailed.

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)


Table of contents (5 chapters)

Table of contents (5 chapters)

Buy this book

eBook 85,59 €
price for Spain (gross)
  • ISBN 978-3-319-02636-7
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover 135,19 €
price for Spain (gross)
  • ISBN 978-3-319-02635-0
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
  • The final prices may differ from the prices shown due to specifics of VAT rules
Softcover 106,90 €
price for Spain (gross)
  • ISBN 978-3-319-37755-1
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
  • The final prices may differ from the prices shown due to specifics of VAT rules
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Bibliographic Information

Bibliographic Information
Book Title
Analysis and Control of Underactuated Mechanical Systems
Authors
Copyright
2014
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing Switzerland
eBook ISBN
978-3-319-02636-7
DOI
10.1007/978-3-319-02636-7
Hardcover ISBN
978-3-319-02635-0
Softcover ISBN
978-3-319-37755-1
Edition Number
1
Number of Pages
XV, 138
Number of Illustrations
45 b/w illustrations, 10 illustrations in colour
Topics