Non-linear Control for Underactuated Mechanical Systems

This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

List of contents

From the contents:
- Introduction
- Theoretical preliminaries
- The cart-pole system
- A convey-crane system
- The pendubot system
- The furuta pendulum
- The reaction wheel pendulum
- The planar flexible-joint robot
- The PPR planar manipulator
- The ball and beam acting on the ball
- The hovercraft model
- The PVTOL aircraft
- Helicopter on a platform
- Lagrangian helicpoter model
- Newtonian helicopter model
- Bibliography
- Index

Product details

• Authors: I. Fantoni, Isabell Fantoni, Isabelle Fantoni, R. Lozano, Rogelio Lozano
• Publisher: Springer, Berlin
• Languages: English
• Product format: Hardback
• Released: 01.01.2002
• EAN: 9781852334239
• ISBN: 978-1-85233-423-9
• No. of pages: 295
• Weight: 686 g
• Illustrations: XI, 295 p.
• Series: Communications and Control Engineering Series; Communications and Control Engineering; Advances in Pattern Recognitio
• Subject: Natural sciences, medicine, IT, technology > Technology > Mechanical engineering, production engineering