Control Design and Analysis for Underactuated Robotic Systems Xin Xin

ISBN: 9781447162513

Published: May 28th 2014

Unknown Binding

326 pages


Description

Control Design and Analysis for Underactuated Robotic Systems  by  Xin Xin

Control Design and Analysis for Underactuated Robotic Systems by Xin Xin
May 28th 2014 | Unknown Binding | PDF, EPUB, FB2, DjVu, audiobook, mp3, ZIP | 326 pages | ISBN: 9781447162513 | 7.49 Mb

The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class ofMoreThe last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two.

It presents novel notions, features, design techniques and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs.Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design and analysis presented in a systematic way particularly for the following examples: la directly and remotely driven aAcrobotsla Pendubotla rotational pendulumla counter-weighted Acrobot2-link underactuated robot with flexible elbow jointla variable-length pendulumla 3-link gymnastic robot with passive first jointla n-link planar robot with passive first jointla n-link planar robot with passive single jointdouble, or two parallel pendulums on a cartla 3-link planar robots with underactuation degree two2-link free flying robotThe theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum.Control Design and Analysis for Underactuated Robotic Systems is intended for advanced undergraduate and graduate students and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation.

This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.



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