Intelligent Systems, Control and Automation: Science and Engineering

Motion Control of Underactuated Mechanical Systems

Authors: Moreno-Valenzuela, Javier, Aguilar-Avelar, Carlos

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  • 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   
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eBook 117,69 €
price for Spain (gross)
  • ISBN 978-3-319-58319-8
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover 145,59 €
price for Spain (gross)
  • ISBN 978-3-319-58318-1
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions & severe weather in the US may cause delays
  • 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 145,59 €
price for Spain (gross)
  • ISBN 978-3-319-86375-7
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions & severe weather in the US may cause delays
  • 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 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.  

Table of contents (10 chapters)

Table of contents (10 chapters)

Buy this book

eBook 117,69 €
price for Spain (gross)
  • ISBN 978-3-319-58319-8
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover 145,59 €
price for Spain (gross)
  • ISBN 978-3-319-58318-1
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions & severe weather in the US may cause delays
  • 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 145,59 €
price for Spain (gross)
  • ISBN 978-3-319-86375-7
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions & severe weather in the US may cause delays
  • 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
Motion Control of Underactuated Mechanical Systems
Authors
Series Title
Intelligent Systems, Control and Automation: Science and Engineering
Series Volume
88
Copyright
2018
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing AG
eBook ISBN
978-3-319-58319-8
DOI
10.1007/978-3-319-58319-8
Hardcover ISBN
978-3-319-58318-1
Softcover ISBN
978-3-319-86375-7
Series ISSN
2213-8986
Edition Number
1
Number of Pages
XI, 223
Number of Illustrations
15 b/w illustrations, 66 illustrations in colour
Topics