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Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems/ by Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra.
作者:	Rudra, Shubhobrata.
其他作者:	Barai, Ranjit Kumar.
出版者:	Singapore :Springer Singapore : : 2017.,
面頁冊數:	xvii, 171 p. :ill., digital ; : 24 cm.;
Contained By:	Springer eBooks
標題:	Feedback control systems. -
電子資源:	http://dx.doi.org/10.1007/978-981-10-1956-2
ISBN:	9789811019562

Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems
Rudra, Shubhobrata.

Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems[electronic resource] /by Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra. - Singapore :Springer Singapore :2017. - xvii, 171 p. :ill., digital ;24 cm.

Introduction -- Theoretical Preliminaries -- Block Backstepping Control of the Underactuated Mechanical Systems -- Applications on the 2-DOF Underactuated Mechanical Systems: Some Case Studies -- Applications on the Underactuated Mechanical Systems with Higher Degrees of Freedom: Some Case Studies -- Scope of the Future Research.

This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.

ISBN: 9789811019562

Standard No.: 10.1007/978-981-10-1956-2doiSubjects--Topical Terms:

596555
Feedback control systems.

LC Class. No.: TJ216

Dewey Class. No.: 629.836

Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems
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505 0 $a Introduction -- Theoretical Preliminaries -- Block Backstepping Control of the Underactuated Mechanical Systems -- Applications on the 2-DOF Underactuated Mechanical Systems: Some Case Studies -- Applications on the Underactuated Mechanical Systems with Higher Degrees of Freedom: Some Case Studies -- Scope of the Future Research.
520 $a This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.
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