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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...
Main Authors: | , |
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Corporate Author: | |
Format: | e-Book |
Language: | English |
Published: |
Cham :
Springer International Publishing : Imprint: Springer,
2018.
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Edition: | 1st ed. 2018. |
Series: | Intelligent Systems, Control and Automation: Science and Engineering,
88 |
Subjects: | |
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. .