000 03805nam a22005895i 4500
001 978-3-319-58319-8
003 DE-He213
005 20220801213939.0
007 cr nn 008mamaa
008 170711s2018 sz | s |||| 0|eng d
020 _a9783319583198
_9978-3-319-58319-8
024 7 _a10.1007/978-3-319-58319-8
_2doi
050 4 _aTJ212-225
050 4 _aTJ210.2-211.495
072 7 _aTJFM
_2bicssc
072 7 _aTEC004000
_2bisacsh
072 7 _aTJFM
_2thema
082 0 4 _a629.8
_223
100 1 _aMoreno-Valenzuela, Javier.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_935391
245 1 0 _aMotion Control of Underactuated Mechanical Systems
_h[electronic resource] /
_cby Javier Moreno-Valenzuela, Carlos Aguilar-Avelar.
250 _a1st ed. 2018.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2018.
300 _aXI, 223 p. 81 illus., 66 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aIntelligent Systems, Control and Automation: Science and Engineering,
_x2213-8994 ;
_v88
505 0 _aPreface -- 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. .
520 _aThis 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-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines. .
650 0 _aControl engineering.
_931970
650 0 _aRobotics.
_92393
650 0 _aAutomation.
_92392
650 0 _aMechanics.
_98758
650 0 _aMechanical engineering.
_95856
650 1 4 _aControl, Robotics, Automation.
_931971
650 2 4 _aClassical Mechanics.
_931661
650 2 4 _aMechanical Engineering.
_95856
700 1 _aAguilar-Avelar, Carlos.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_935392
710 2 _aSpringerLink (Online service)
_935393
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783319583181
776 0 8 _iPrinted edition:
_z9783319583204
776 0 8 _iPrinted edition:
_z9783319863757
830 0 _aIntelligent Systems, Control and Automation: Science and Engineering,
_x2213-8994 ;
_v88
_935394
856 4 0 _uhttps://doi.org/10.1007/978-3-319-58319-8
912 _aZDB-2-ENG
912 _aZDB-2-SXE
942 _cEBK
999 _c75782
_d75782