國立虎尾科技大學 |

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

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems/ by Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra.
Author:	Rudra, Shubhobrata.
other author:	Barai, Ranjit Kumar.
Published:	Singapore :Springer Singapore : : 2017.,
Description:	xvii, 171 p. :ill., digital ; : 24 cm.;
Contained By:	Springer eBooks
Subject:	Feedback control systems. -
Online resource:	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
LDR:02867nam a2200325 a 4500 001 956266
003 DE-He213
005 20160912211152.0
006 m d
007 cr nn 008maaau
008 201117s2017 si s 0 eng d
020 $a 9789811019562 $q (electronic bk.)
020 $a 9789811019555 $q (paper)
024 7 $a 10.1007/978-981-10-1956-2 $2 doi
035 $a 978-981-10-1956-2
040 $a GP $c GP
041 0 $a eng
050 4 $a TJ216
072 7 $a TGMD4 $2 bicssc
072 7 $a TEC009070 $2 bisacsh
072 7 $a SCI018000 $2 bisacsh
082 0 4 $a 629.836 $2 23
090 $a TJ216 $b .R917 2017
100 1 $a Rudra, Shubhobrata. $3 1247220
245 1 0 $a Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems $h [electronic resource] / $c by Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra.
260 $a Singapore : $c 2017. $b Springer Singapore : $b Imprint: Springer,
300 $a xvii, 171 p. : $b ill., digital ; $c 24 cm.
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.
650 0 $a Feedback control systems. $3 596555
650 0 $a Nonlinear control theory. $3 528253
650 1 4 $a Engineering. $3 561152
650 2 4 $a Vibration, Dynamical Systems, Control. $3 670825
650 2 4 $a Control. $3 782232
650 2 4 $a Electrical Engineering. $3 768742
700 1 $a Barai, Ranjit Kumar. $3 1022239
700 1 $a Maitra, Madhubanti. $3 1247221
710 2 $a SpringerLink (Online service) $3 593884
773 0 $t Springer eBooks
856 4 0 $u http://dx.doi.org/10.1007/978-981-10-1956-2
950 $a Engineering (Springer-11647)