Analysis and control of underactuated mechanical systems

Choukchou-Braham, Amal, Cherki, Brahim, Djemaï, Mohamed and Busawon, Krishna (2014) Analysis and control of underactuated mechanical systems. Springer, London. ISBN 978-3-319-02635-0

Full text not available from this repository.

Abstract

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.

Item Type: Book
Subjects: H600 Electronic and Electrical Engineering
Department: Faculties > Engineering and Environment > Physics and Electrical Engineering
Related URLs:
Depositing User: Nicola King
Date Deposited: 03 Jul 2014 15:38
Last Modified: 10 Nov 2016 12:40
URI: http://nrl.northumbria.ac.uk/id/eprint/16830

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year

View more statistics


Policies: NRL Policies | NRL University Deposit Policy | NRL Deposit Licence