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Control Design and Analysis for Underactuated Robotic Systems

  • Xin Xin
  • Yannian Liu

Table of contents

  1. Front Matter
    Pages I-XVII
  2. Xin Xin, Yannian Liu
    Pages 1-18
  3. Xin Xin, Yannian Liu
    Pages 19-46
  4. Xin Xin, Yannian Liu
    Pages 47-70
  5. Xin Xin, Yannian Liu
    Pages 71-93
  6. Xin Xin, Yannian Liu
    Pages 95-107
  7. Xin Xin, Yannian Liu
    Pages 109-125
  8. Xin Xin, Yannian Liu
    Pages 127-137
  9. Xin Xin, Yannian Liu
    Pages 139-153
  10. Xin Xin, Yannian Liu
    Pages 155-174
  11. Xin Xin, Yannian Liu
    Pages 175-194
  12. Xin Xin, Yannian Liu
    Pages 195-217
  13. Xin Xin, Yannian Liu
    Pages 219-241
  14. Xin Xin, Yannian Liu
    Pages 243-256
  15. Xin Xin, Yannian Liu
    Pages 257-276
  16. Xin Xin, Yannian Liu
    Pages 277-294
  17. Xin Xin, Yannian Liu
    Pages 295-309
  18. Back Matter
    Pages 311-319

About this book

Introduction

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 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:

l  directly and remotely driven  Acrobots

l  Pendubot

l  rotational pendulum

l  counter-weighted Acrobot

2-link underactuated robot with flexible elbow joint

l  variable-length pendulum

l  3-link gymnastic robot with passive first joint

l  n-link planar robot with passive first joint

l  n-link planar robot with passive single joint

double, or two parallel pendulums on a cart

l  3-link planar robots with underactuation degree two

2-link free flying robot

The 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.

Keywords

Energy- and Passivity-based Control Nonlinear Control Robotic Systems Stability and Motion Analysis Underactuated Systems

Authors and affiliations

  • Xin Xin
    • 1
  • Yannian Liu
    • 2
  1. 1.Faculty of Computer Science & Eng.Okayama Prefectural UniversityOkayamaJapan
  2. 2.Grad School of Natural Science and Tech.Okayama UniversityOkayamaJapan

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4471-6251-3
  • Copyright Information Springer-Verlag London 2014
  • Publisher Name Springer, London
  • eBook Packages Engineering
  • Print ISBN 978-1-4471-6250-6
  • Online ISBN 978-1-4471-6251-3
  • Buy this book on publisher's site
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