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Motion control of underactuated mech...

Aguilar-Avelar, Carlos.

Motion control of underactuated mechanical systems

Record Type:	Electronic resources : Monograph/item
Title/Author:	Motion control of underactuated mechanical systemsby Javier Moreno-Valenzuela, Carlos Aguilar-Avelar.
Author:	Moreno-Valenzuela, Javier.
other author:	Aguilar-Avelar, Carlos.
Published:	Cham :Springer International Publishing :2018.
Description:	xi, 223 p. :ill. (some col.), digital ;24 cm.
Contained By:	Springer eBooks
Subject:	Automatic control.
Online resource:	http://dx.doi.org/10.1007/978-3-319-58319-8
ISBN:	9783319583198$q(electronic bk.)

Motion control of underactuated mechanical systems
Moreno-Valenzuela, Javier.

Motion control of underactuated mechanical systems[electronic resource] /by Javier Moreno-Valenzuela, Carlos Aguilar-Avelar. - Cham :Springer International Publishing :2018. - xi, 223 p. :ill. (some col.), digital ;24 cm. - Intelligent systems, control and automation: science and engineering,v.882213-8986 ;. - Intelligent systems, control and automation: science and engineering ;v.70..

Preface -- Notation and Acronyms -- 1. Introduction -- 2. Identification of underactuated mechanical systems -- 3. Feedback linearization controller for arm trajectory tracking of the Furuta pendulum -- 4. Adaptive neural network controller for arm trajectory tracking of the Furuta pendulum -- 5. Feedback linearization controller for wheel trajectory tracking of the inertia wheel pendulum -- 6. Adaptive controllers for pendulum trajectory tracking of the inertia wheel pendulum -- Appendices -- References.

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.

ISBN: 9783319583198$q(electronic bk.)

Standard No.: 10.1007/978-3-319-58319-8doiSubjects--Topical Terms:

182078
Automatic control.

LC Class. No.: TJ213

Dewey Class. No.: 629.8

Motion control of underactuated mechanical systems
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520 $a 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.
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