Control of Underactuated Mechanical Systems: Stabilisation and Limit Cycle Generation: Emerging Methodologies and Applications in Modelling, Identification and Control
Autor Afef Hfaiedh, Ahmed Chemorien Limba Engleză Paperback – apr 2025
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
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
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