Analysis and Control of Underactuated Mechanical Systems
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 system...
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| Autor principal: | |
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| Otros Autores: | , , |
| Formato: | Libro electrónico |
| Lenguaje: | Inglés |
| Publicado: |
Cham :
Springer International Publishing : Imprint: Springer,
2014.
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| Materias: | |
| Acceso en línea: | http://dx.doi.org/10.1007/978-3-319-02636-7 |
| Aporte de: | Registro referencial: Solicitar el recurso aquí |
Tabla de Contenidos:
- Introduction
- Generalities and State-of-the-Art on the Control of Underactuated Mechanical Systems.-Â Underactuated Mechanical Systems from the Langrangian formalism
- Classification of Underactuated Mechanical Systems
- Control Design Schemes for Underactuated Mechanical Systems.-Â Appendices: Theoretical Background on Nonlinear System Stability and Control
- Limits of Linearization and Dangers of Destabilization
- Differential Geometry
- Controllability of Continuous Systems.