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Motion Control of Underactuated Mechanical Systems

  • Javier Moreno-Valenzuela
  • Carlos Aguilar-Avelar

Table of contents

  1. Front Matter
    Pages i-xi
  2. Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
    Pages 1-12
  3. Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
    Pages 13-25
  4. Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
    Pages 27-49
  5. Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
    Pages 51-68
  6. Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
    Pages 69-92
  7. Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
    Pages 93-118
  8. Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
    Pages 119-140
  9. Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
    Pages 141-158
  10. Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
    Pages 159-176
  11. Javier Moreno-Valenzuela, Carlos Aguilar-Avelar
    Pages 177-187
  12. Back Matter
    Pages 189-223

About this book

Introduction

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-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.  

Keywords

Underactuated Systems Trajectory Tracking Parameter Identification Nonlinear Control Real-time Experiments

Authors and affiliations

  • Javier Moreno-Valenzuela
    • 1
  • Carlos Aguilar-Avelar
    • 2
  1. 1.Instituto Politécnico Nacional-CITEDITijuanaMexico
  2. 2.Instituto Politécnico Nacional-CITEDITijuanaMexico

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-319-58319-8
  • Copyright Information Springer International Publishing AG 2018
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-319-58318-1
  • Online ISBN 978-3-319-58319-8
  • Series Print ISSN 2213-8986
  • Series Online ISSN 2213-8994
  • Buy this book on publisher's site
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