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Livres en anglais > Technologie, ingénierie et agriculture, procédés industriels > Génie mécanique et matériels > Science des matériaux > Ingénierie : mécanique des solides > Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems

Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems

Name: Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems
Brand: Springer Verlag, Singapore
SKU: 13469854
Price: 102.29 EUR
Availability: InStock
Author: Shubhobrata Rudra
ISBN: 9789811019555

Shubhobrata Rudra

Ranjit Kumar Barai

Madhubanti Maitra

Langue

Anglais

Livre Livre relié

Code Libristo: 13469854

Éditeurs Springer Verlag, Singapore, septembre 2016

This book presents a novel, generalized approach to the design of nonlinear state feedback control l... Description détaillée

Code Libristo: 13469854

249 b

102.29 €

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This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. ? An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.