Motion Control Of Underactuated Mechanical Systems
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Motion Control Of Underactuated Mechanical Systems
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Author : Javier Moreno-Valenzuela
language : en
Publisher: Springer
Release Date : 2017-07-11
Motion Control Of Underactuated Mechanical Systems written by Javier Moreno-Valenzuela and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-07-11 with Technology & Engineering categories.
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.
Control Of Underactuated Mechanical Systems
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Author : Afef Hfaiedh
language : en
Publisher: Academic Press
Release Date : 2025-04-01
Control Of Underactuated Mechanical Systems written by Afef Hfaiedh and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-04-01 with Technology & Engineering categories.
Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generationclearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS),addressing control design challenges and demonstrating concepts through real-time experiments.The book begins with advancements in UMS, introducing key concepts such as stabilization and limitcycle generation, supported by literature examples. It then focuses on the inertia wheel invertedpendulum, presenting a detailed discussion. The second part tackles stabilization, offering variouscontrol solutions validated through numerical simulations and real-time experiments. The finalpart addresses stable limit cycle generation, detailing three proposed control solutions and theirvalidation through different case studies.This book is a valuable resource for PhD and Master students, engineers, researchers, and educators.It provides guidance in robotics and automatic control, utilizing a simplified methodology forcontrolling underactuated mechanical systems. - • Addresses stabilization and stable limit cycle generation in underactuated mechanical systemsamid perturbations• Explores the design, development, and validation of robust control solutions• Illustrates concepts through case studies• Validates control solutions with numerical simulations and real-time experiments
Control Of Ships And Underwater Vehicles
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Author : Khac Duc Do
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-08-09
Control Of Ships And Underwater Vehicles written by Khac Duc Do and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-08-09 with Technology & Engineering categories.
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.
Geometric Control Of Mechanical Systems
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Author : Francesco Bullo
language : en
Publisher: Springer
Release Date : 2019-06-12
Geometric Control Of Mechanical Systems written by Francesco Bullo and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-06-12 with Science categories.
The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry. The book contains extensive examples and exercises, and will be suitable for a growing number of courses in this area. It begins with the detailed mathematical background, proceeding through innovative approaches to physical modeling, analysis, and design techniques. Numerous examples illustrate the proposed methods and results, while the many exercises test basic knowledge and introduce topics not covered in the main body of the text. The audience of this book consists of two groups. The first group is comprised of graduate students in engineering or mathematical sciences who wish to learn the basics of geometric mechanics, nonlinear control theory, and control theory for mechanical systems. Readers will be able to immediately begin exploring the research literature on these subjects. The second group consists of researchers in mechanics and control theory. Nonlinear control theoreticians will find explicit links between concepts in geometric mechanics and nonlinear control theory. Researchers in mechanics will find an overview of topics in control theory that have relevance to mechanics.
Analysis And Control Of Underactuated Mechanical Systems
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Author : Amal Choukchou-Braham
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-11-18
Analysis And Control Of Underactuated Mechanical Systems written by Amal Choukchou-Braham and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-11-18 with Technology & Engineering categories.
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 systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. The text is illustrated with MATLABsup®/sup/Simulink® simulations that demonstrate the effectiveness of the methods detailed./ppReaders interested in aircraft, vehicle control or various forms of walking robot will be able to learn from iUnderactuated Mechanical Systems
Adaptive Control Of Underactuated Mechanical Systems
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Author : An-chyau Huang
language : en
Publisher: World Scientific
Release Date : 2015-01-29
Adaptive Control Of Underactuated Mechanical Systems written by An-chyau Huang and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-01-29 with Technology & Engineering categories.
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.
Nonlinear Control Of Engineering Systems
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Author : Warren E. Dixon
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-06-29
Nonlinear Control Of Engineering Systems written by Warren E. Dixon and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-06-29 with Technology & Engineering categories.
Recent advancements in Lyapunov-based design and analysis techniques have applications to a broad class of engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems. This book provides a practical yet rigorous development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation. Features include: * Control designs for a broad class of engineering systems * Presentation of adaptive and learning control methods for uncertain nonlinear systems * Experimental testbed descriptions and results that guide the reader toward techniques for further research * Development of necessary mathematical background in each chapter; additional mathematical prerequisites contained in two appendices Intended for readers who have some knowledge of undergraduate systems theory, the book includes a wide range of applications making it suitable for an extensive audience. Graduate students and researchers in control systems, robotics, and applied mathematics, as well as professional engineers will appreciate the work's combination of theoretical underpinnings and current and emerging engineering applications.
Underactuated Robotic Hands
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Author : Lionel Birglen
language : en
Publisher: Springer
Release Date : 2007-12-23
Underactuated Robotic Hands written by Lionel Birglen and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-12-23 with Technology & Engineering categories.
Grasping and manipulation skills are at the core of the development of modern robotic systems. With the introduction of robotics in new applications involving unstructured environments (e.g. space, undersea, surgery), intelligent manipulation and grasping has become a crucial research area. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. Their work was reported in several publications which appeared in the most renowned journals and conferences. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping—namely under actuation—which has achieved great success both in theory and in practice. This book is not intended to be used as a textbook but could be used as a reference at the post-graduate level.
Control Of Underactuated Manipulators
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Author : Jundong Wu
language : en
Publisher: Springer Nature
Release Date : 2023-05-13
Control Of Underactuated Manipulators written by Jundong Wu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-05-13 with Technology & Engineering categories.
This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.
The Reaction Wheel Pendulum
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Author : Daniel J. Block
language : en
Publisher: Morgan & Claypool Publishers
Release Date : 2007-12-01
The Reaction Wheel Pendulum written by Daniel J. Block and has been published by Morgan & Claypool Publishers this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-12-01 with Technology & Engineering categories.
This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.