Identificacion Principal del registro INGC-EBK-000299

Control Number Identifier AR-LpUFI

LAST MODIFICATION DATE 20160826122108

CONTROL FIELD cr nn 008mamaa

CONTROL FIELD 131115s2014 gw | s |||| 0|eng d

a International Standard Book Number 9783319026367

a Standard number or code 10.1007/978-3-319-02636-7

a Personal name Choukchou-Braham, Amal.

a Title Analysis and Control of Underactuated Mechanical Systems

h Medium [libro electrónico] /

c Statement of responsibility, etc by Amal Choukchou-Braham...[et al.].

a Place of publication, distribution, etc Cham :

b Name of publisher, distributor, etc Springer International Publishing :

b Name of publisher, distributor, etc Imprint: Springer,

c Date of publication, distribution, etc 2014.

a Extent xv, 138 p. :

b Other physical details il.

a Formatted contents note Introduction -- Generalities and State-of-the-Art on the Control of Underactuated Mechanical Systems.- Underactuated Mechanical Systems from the Langrangian formalism -- Classification of Underactuated Mechanical Systems -- Control Design Schemes for Underactuated Mechanical Systems.- Appendices: Theoretical Background on Nonlinear System Stability and Control -- Limits of Linearization and Dangers of Destabilization -- Differential Geometry -- Controllability of Continuous Systems.

a Summary, etc 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 happenâ_"chain, tree, and isolated vertexâ_"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 MATLAB®/Simulink® simulations that demonstrate the effectiveness of the methods detailed. Readers interested in aircraft, vehicle control or various forms of walking robot will be able to learn from Analysis and Control of Underactuated Mechanical Systems how to estimate the degree of complexity required in the control design of several classes of underactuated systems and proceed on to further generate more systematic control laws according to its methods of analysis.

a Topical term or geographic name as entry element Engineering.

a Topical term or geographic name as entry element Automotive engineering.

a Topical term or geographic name as entry element Aerospace engineering.

a Topical term or geographic name as entry element Astronautics.

a Topical term or geographic name as entry element Robotics.

a Topical term or geographic name as entry element Automation.

a Personal name Cherki, Brahim.

a Personal name Djemai, Mohamed.

a Personal name Busawon, Krishna.

u Uniform Resource Identifier (R) http://dx.doi.org/10.1007/978-3-319-02636-7

c item type EBK

a descripción COM