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Introduction

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Book cover Analysis and Control of Underactuated Mechanical Systems

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Abstract

The control of underactuated mechanical systems is an active field of research in robotics and control system engineering. An underactuated mechanical system is a system that have fewer actuators than configuration variables. The restriction on the control authority makes the control design for these systems complicated. Some established results and properties of nonlinear systems are no longer valid in the case of these systems. Even though these difficulties suggest that the control design for underactuated mechanical systems is challenging, the very existence of these systems together with their corresponding applications attracted the attention of many researchers and thereby compelling them to investigate the subject matter rigorously.

This chapter gives a general presentation of the book where origin, motivation, purpose, plan, and intended audience are indicated.

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Authors and Affiliations

  1. University of Aboubekr Belkaid, Chetouane, Tlemcen, Algeria

    Amal Choukchou-Braham & Brahim Cherki

  2. LAMIH ASHM, University of Valenciennes and Hainaut-Cambrésis, Valenciennes, France

    Mohamed Djemaï

  3. Faculty of Engineering and Environment, Northumbria University, Newcastle-upon-Tyne, UK

    Krishna Busawon

Authors
  1. Amal Choukchou-Braham
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  2. Brahim Cherki
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  3. Mohamed Djemaï
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  4. Krishna Busawon
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Choukchou-Braham, A., Cherki, B., Djemaï, M., Busawon, K. (2014). Introduction. In: Analysis and Control of Underactuated Mechanical Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-02636-7_1

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  • DOI: https://doi.org/10.1007/978-3-319-02636-7_1

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-02635-0

  • Online ISBN: 978-3-319-02636-7

  • eBook Packages: EngineeringEngineering (R0)

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