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...

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Hlavní autor: Moreno-Valenzuela, Javier (Autor)
Médium: Elektronický zdroj E-kniha
Jazyk:angličtina
Vydáno: Cham : Springer International Publishing, 2018.
Vydání:1st ed. 2018.
Edice:Intelligent Systems, Control and Automation: Science and Engineering, 88
Témata:
Control engineering.
Robotics.
Mechatronics.
Mechanics.
Mechanical engineering.
ISBN:9783319583198
ISSN:2213-8986 ;
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Obsah:
  • 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. .

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