Get Analysis and Control of Underactuated Mechanical Systems PDF

By Amal Choukchou-Braham, Brahim Cherki, Mohamed Djemaï, Krishna Busawon

ISBN-10: 3319026356

ISBN-13: 9783319026350

ISBN-10: 3319026364

ISBN-13: 9783319026367

This monograph offers readers with instruments for the research, and keep an eye on of platforms with fewer regulate inputs than levels of freedom to be managed, i.e., underactuated structures. The textual content offers with the implications of an absence of a normal thought that will permit methodical therapy of such platforms and the advert hoc method of keep an eye on layout that frequently effects, implementing a degree of association at any time when the latter is lacking.

The authors take as their place to begin the development of a graphical characterization or keep an eye on movement diagram reflecting the transmission of generalized forces throughout the levels of freedom. Underactuated structures are categorized in line with the 3 major constructions through which this can be chanced on to happen—chain, tree, and remoted vertex—and keep watch over layout methods proposed. The process is utilized to numerous recognized examples of underactuated structures: acrobot; pendubot; Tora method; ball and beam; inertia wheel; and robot arm with elastic joint.

The textual content is illustrated with MATLAB®/Simulink® simulations that show the effectiveness of the equipment detailed.

Readers drawn to plane, motor vehicle keep an eye on or quite a few varieties of strolling robotic should be in a position to research from Underactuated Mechanical Systems tips on how to estimate the measure of complexity required within the keep watch over layout of a number of periods of underactuated structures and continue directly to additional generate extra systematic keep an eye on legislation in keeping with its equipment of analysis.

Show description

By Amal Choukchou-Braham, Brahim Cherki, Mohamed Djemaï, Krishna Busawon

ISBN-10: 3319026356

ISBN-13: 9783319026350

ISBN-10: 3319026364

ISBN-13: 9783319026367

This monograph offers readers with instruments for the research, and keep an eye on of platforms with fewer regulate inputs than levels of freedom to be managed, i.e., underactuated structures. The textual content offers with the implications of an absence of a normal thought that will permit methodical therapy of such platforms and the advert hoc method of keep an eye on layout that frequently effects, implementing a degree of association at any time when the latter is lacking.

The authors take as their place to begin the development of a graphical characterization or keep an eye on movement diagram reflecting the transmission of generalized forces throughout the levels of freedom. Underactuated structures are categorized in line with the 3 major constructions through which this can be chanced on to happen—chain, tree, and remoted vertex—and keep watch over layout methods proposed. The process is utilized to numerous recognized examples of underactuated structures: acrobot; pendubot; Tora method; ball and beam; inertia wheel; and robot arm with elastic joint.

The textual content is illustrated with MATLAB®/Simulink® simulations that show the effectiveness of the equipment detailed.

Readers drawn to plane, motor vehicle keep an eye on or quite a few varieties of strolling robotic should be in a position to research from Underactuated Mechanical Systems tips on how to estimate the measure of complexity required within the keep watch over layout of a number of periods of underactuated structures and continue directly to additional generate extra systematic keep an eye on legislation in keeping with its equipment of analysis.

Show description

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Extra info for Analysis and Control of Underactuated Mechanical Systems

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D. Seto, J. Baillieul, Control problems in super articulated mechanical systems. IEEE Trans. Autom. Control 39(12), 2442–2453 (1994) 30. O. Sordalen, O. Egeland, Exponential stabilization of chained nonholonomic systems. IEEE Trans. Autom. Control 40(1), 35–49 (2001) 31. W. Spong, Underactuated Mechanical Systems (Springer, Berlin, 1997) 32. W. J. Block, The Pendubot: a mechatronic system for control research and education, in Proc. of the 34th IEEE Conf. on Decision and Control, New Orleans (1995) 33.

Necessary conditions for the existence of a continuous time-invariant control and that renders the origin asymptotically stable are that: (i) The linearized system around the origin is stabilizable. (ii) There exists a neighborhood V of the origin such that for every ζ ∈ V , there exists a control input uζ (·) defined on [0, ∞[ such that this control input steers the solution of x˙ = f (x, u) from x = ζ at t = 0 towards x = 0 at t = ∞. (iii) The mapping γ : A × Rm → Rn defined by γ : (x, u) → f (x, u) must be surjective in a neighborhood of the origin.

Brockett, Asymptotic Stability and Feedback Stabilization (Birkhäuser, Basel, 1983) 9. M. Coron, B. d’Andréa-Novel, Smooth stabilizing time-varying control laws for a class of nonlinear systems, in IFAC Nonlinear Control Systems Design Symp. (NOLCOS) (1992), pp. 413–418 10. I. Fantoni, R. Lozano, Nonlinear Control for Underactuated Mechanical Systems (Springer, Berlin, 2002) 11. O. Gantmacher, Lectures in Analytical Mechanics (Mir, Moscow, 1970) 12. H. Goldstein, Classical Mechanics (Addison-Wesley, Reading, 1980) 13.

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Analysis and Control of Underactuated Mechanical Systems by Amal Choukchou-Braham, Brahim Cherki, Mohamed Djemaï, Krishna Busawon


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