Motion Control of Underactuated Mechanical Systems

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-fre...

Full description

Bibliographic Details
Main Authors: Moreno-Valenzuela, Javier (Author), Aguilar-Avelar, Carlos (Author)
Corporate Author: SpringerLink (Online service)
Format: e-Book
Language:English
Published: Cham : Springer International Publishing : Imprint: Springer, 2018.
Edition:1st ed. 2018.
Series:Intelligent Systems, Control and Automation: Science and Engineering, 88
Subjects:
Control engineering.
Robotics.
Automation.
Mechanics.
Mechanical engineering.
Control, Robotics, Automation.
Classical Mechanics.
Mechanical Engineering.
Online Access:Full-text access
View in OPAC
Table of Contents:
  • Preface
  • Notation and Acronyms
  • 1. Introduction
  • 2. Identification of underactuated mechanical systems
  • 3. Feedback linearization controller for arm trajectory tracking of the Furuta pendulum
  • 4. Adaptive neural network controller for arm trajectory tracking of the Furuta pendulum
  • 5. Feedback linearization controller for wheel trajectory tracking of the inertia wheel pendulum
  • 6. Adaptive controllers for pendulum trajectory tracking of the inertia wheel pendulum
  • Appendices
  • References. .

Similar Items