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Control of Underactuated Mechanical Systems: Stabilisation and Limit Cycle Generation: Emerging Methodologies and Applications in Modelling, Identification and Control

Autor Afef Hfaiedh, Ahmed Chemori
en Limba Engleză Paperback – apr 2025
Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generation clearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS), addressing control design challenges and demonstrating concepts through real-time experiments.
The book begins with advancements in UMS, introducing key concepts such as stabilization and limit cycle generation, supported by literature examples. It then focuses on the inertia wheel inverted pendulum, presenting a detailed discussion. The second part tackles stabilization, offering various control solutions validated through numerical simulations and real-time experiments. The final part addresses stable limit cycle generation, detailing three proposed control solutions and their validation through different case studies.
This book is a valuable resource for PhD and Master students, engineers, researchers, and educators. It provides guidance in robotics and automatic control, utilizing a simplified methodology for controlling underactuated mechanical systems.


  • Addresses stabilization and stable limit cycle generation in underactuated mechanical systems amid perturbations
  • Explores the design, development, and validation of robust control solutions
  • Illustrates concepts through case studies
  • Validates control solutions with numerical simulations and real-time experiments
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Specificații

ISBN-13: 9780443240201
ISBN-10: 0443240205
Pagini: 230
Dimensiuni: 152 x 229 mm
Editura: ELSEVIER SCIENCE
Seria Emerging Methodologies and Applications in Modelling, Identification and Control


Cuprins

Part I: General context and case study
1. Introduction
2. The inertia wheel inverted pendulum case study

Part II: Control solutions for the stabilisation problem
3. A revisited adaptive sliding mode control scheme
4. Nonlinear RISE feedback control scheme
5. Model reference adaptive IDA-PBC approach

Part III: Control solutions for stable limit cycle generation problem
6. Partial feedback linearization and optimization
7. Nonlinear Model Predictive control
8. Dual Model Free control