Analysis and Control of Underactuated Mechanical Systems - download pdf or read online

By Amal Choukchou-Braham, Brahim Cherki, Mohamed Djemaï, Krishna Busawon

ISBN-10: 3319026356

ISBN-13: 9783319026350

ISBN-10: 3319026364

ISBN-13: 9783319026367

This monograph presents readers with instruments for the research, and keep an eye on of platforms with fewer keep watch over inputs than levels of freedom to be managed, i.e., underactuated platforms. The textual content bargains with the implications of an absence of a common concept that might permit methodical therapy of such platforms and the advert hoc method of keep watch over layout that regularly effects, implementing a degree of association at any time when the latter is lacking.

The authors take as their start line the development of a graphical characterization or keep watch over circulate diagram reflecting the transmission of generalized forces during the levels of freedom. Underactuated platforms are categorized in keeping with the 3 major constructions during which this is often came upon to happen—chain, tree, and remoted vertex—and regulate layout strategies proposed. The method is utilized to numerous recognized examples of underactuated platforms: acrobot; pendubot; Tora approach; ball and beam; inertia wheel; and robot arm with elastic joint.

The textual content is illustrated with MATLAB®/Simulink® simulations that show the effectiveness of the equipment detailed.

Readers drawn to airplane, motor vehicle keep watch over or quite a few sorts of jogging robotic might be in a position to research from Underactuated Mechanical Systems easy methods to estimate the measure of complexity required within the regulate layout of a number of sessions of underactuated structures and continue directly to additional generate extra systematic keep an eye on legislation in accordance with its equipment of analysis.

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7(b) shows the final CFD (after eliminating the singular control path) which is an isolated vertex structure. According to this classification, we conclude that the degree of complexity to control the systems of the above examples increases in the following order: the sliding mass on cart system, next the inverted pendulum system, and last the ball and beam system. 2 Classification of UMSs According to Olfati-Saber The second classification of UMSs is due to Reza Olfati-Saber. His main contribution was to determine an explicit change of coordinates that transforms the coupled subsystems obtained from the partial linearization of Spong into uncoupled cascaded systems in normal form.

Kokotovi´c, Nonlinear control via approximate input-output linearization. IEEE Trans. Autom. Control 37(3), 392–398 (1992) 14. E. Jarzebowska, Stabilizability and motion tracking conditions for mechanical nonholonomic control systems, in Mathematical Problems in Engineering (2007) 15. I. H. Mcclamroch, Developments in nonholonomic control problems. IEEE Control Syst. Mag. 15(6), 20–36 (1995) 16. D. N. Banavar, A swinging up of the Acrobot based on a simple pendulum strategy. Int. J. Control 78(6), 424–429 (2005) 17.

In what follows, we are going to define the different notions of symmetry in relation to Lagrangian systems. 8 Symmetry in Mechanics A Lagrangian L(q, q) ˙ is symmetric with respect to the configuration variable qi if and only if ∂L = 0, ∂qi i ∈ {1, . . 9 Examples of Underactuated Mechanical Systems 27 Several underactuated systems possess certain symmetry property, for example the Lagrangian of a helicopters or of satellites is independent of their position, which gives rise to a symmetry (invariance of the Lagrangian).

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Analysis and Control of Underactuated Mechanical Systems by Amal Choukchou-Braham, Brahim Cherki, Mohamed Djemaï, Krishna Busawon

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