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Motion Control of Underactuated Mechanical Systems

2017-07-11 Technology & Engineering
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Release : 2017-07-11
Genre : Technology & Engineering
Kind : eBook
Book Rating : 190/5 ( reviews)

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Book Synopsis Motion Control of Underactuated Mechanical Systems by : Javier Moreno-Valenzuela

Download or read book Motion Control of Underactuated Mechanical Systems written by Javier Moreno-Valenzuela. This book was released on 2017-07-11. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Non-linear Control for Underactuated Mechanical Systems

2012-12-06 Technology & Engineering
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Release : 2012-12-06
Genre : Technology & Engineering
Kind : eBook
Book Rating : 774/5 ( reviews)

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Book Synopsis Non-linear Control for Underactuated Mechanical Systems by : Isabelle Fantoni

Download or read book Non-linear Control for Underactuated Mechanical Systems written by Isabelle Fantoni. This book was released on 2012-12-06. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

Adaptive Control Of Underactuated Mechanical Systems

2015-01-29 Technology & Engineering
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Release : 2015-01-29
Genre : Technology & Engineering
Kind : eBook
Book Rating : 565/5 ( reviews)

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Book Synopsis Adaptive Control Of Underactuated Mechanical Systems by : An-chyau Huang

Download or read book Adaptive Control Of Underactuated Mechanical Systems written by An-chyau Huang. This book was released on 2015-01-29. Available in PDF, EPUB and Kindle. Book excerpt: In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems.

Control of Ships and Underwater Vehicles

2009-08-09 Technology & Engineering
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Release : 2009-08-09
Genre : Technology & Engineering
Kind : eBook
Book Rating : 30X/5 ( reviews)

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Book Synopsis Control of Ships and Underwater Vehicles by : Khac Duc Do

Download or read book Control of Ships and Underwater Vehicles written by Khac Duc Do. This book was released on 2009-08-09. Available in PDF, EPUB and Kindle. Book excerpt: Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors’ systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following. Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.

Continuum of Motion Equations and Control Laws for Underactuated Mechanical Systems

2021
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Release : 2021
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Kind : eBook
Book Rating : /5 ( reviews)

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Book Synopsis Continuum of Motion Equations and Control Laws for Underactuated Mechanical Systems by : Constance Ann Lare

Download or read book Continuum of Motion Equations and Control Laws for Underactuated Mechanical Systems written by Constance Ann Lare. This book was released on 2021. Available in PDF, EPUB and Kindle. Book excerpt: As sizes, lengths, or shapes of a system grow large or shrink to zero, a system will approach limiting forms. As the parameter is allowed to grow or shrink, the system could resemble a simpler system. The sufficient conditions for when the equations of motion will morph from the original system to a target system will be presented. The ball and arc equations of motion morph to those of the ball and beam as the arc's radius is allowed to grow. The equations of motion for the rotary pendulum, pendubot, and two-link robot manipulator will morph to the equations of motion of the inverted pendulum cart. The effect of a parameter growing large or shrinking to zero has on the controller for the original system will not be fully investigate in this work. A case for when controller morphing might be possible will be examined. A controller for the rotary pendulum will morph to a controller that stabilizes the inverted pendulum cart. Next, a controller for the pendubot will be morphed that does not stabilize the dimensionless inverted pendulum cart. Lastly, a controller for a fully actuated two-link robot manipulator will be morphed to a stabilizing controller for a fully actuated inverted pendulum cart.

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