Non-linear Control for Underactuated Mechanical Systems
By: by Isabelle Fantoni, Rogelio Lozano
Contributors: Lozano, Rogelio
Series: Communications and Control Engineering; Communications and control engineering
Publisher: Springer London
Published: 2002
Place of publication: London
Language: eng
Format: [electronic resource] /
Number of pages: 295
ISBN-13: 9781447110866; 9781447101772
Subjects: Engineering; Mechanical engineering
Description: This book deals with the application of modern control theory to some important underactuated mechanical systems. It presents modelling and control of the following systems: - the inverted pendulum - a convey-crane system - the pendubot system - the Furuta pendulum - the inertia wheel pendulum - the planar flexible-joint robot - the planar manipulator with two prismatic and one revolute joints - the ball & beam system - the hovercraft model - the planar vertical and take-off landing (PVTOL) aircraft - the helicopter model on a platform - the helicopter model In every case the model is obtained in detail using either the Euler-Lagrange formulation or the Newton's second law. We develop control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques. This book will be of great value for PhD students and researchers in the areas of non-linear control systems, mechanical systems, robotics and control of helicopters. It will help the reader gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.
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Table of contents: title: Introduction; title: Theoretical preliminaries; title: The cart-pole system; title: A convey-crane system; title: The pendubot system; title: The furuta pendulum; title: The reaction wheel pendulum; title: The planar flexible-joint robot; title: The PPR planar manipulator; title: The ball and beam acting on the ball; title: The hovercraft model; title: The PVTOL aircraft; title: Helicopter on a platform; title: Lagrangian helicpoter model; title: Newtonian helicopter model; title: Bibliography; title: Index.