Analysis and Control of Underactuated Mechanical Systems (Record no. 54078)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 03829nam a22005535i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-3-319-02636-7 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20200421111205.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 131115s2014 gw | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| ISBN | 9783319026367 |
| -- | 978-3-319-02636-7 |
| 082 04 - CLASSIFICATION NUMBER | |
| Call Number | 629.892 |
| 100 1# - AUTHOR NAME | |
| Author | Choukchou-Braham, Amal. |
| 245 10 - TITLE STATEMENT | |
| Title | Analysis and Control of Underactuated Mechanical Systems |
| 300 ## - PHYSICAL DESCRIPTION | |
| Number of Pages | XV, 138 p. 55 illus., 10 illus. in color. |
| 505 0# - FORMATTED CONTENTS NOTE | |
| Remark 2 | Introduction -- Generalities and State-of-the-Art on the Control of Underactuated Mechanical Systems.- Underactuated Mechanical Systems from the Langrangian formalism -- Classification of Underactuated Mechanical Systems -- Control Design Schemes for Underactuated Mechanical Systems.- Appendices: Theoretical Background on Nonlinear System Stability and Control -- Limits of Linearization and Dangers of Destabilization -- Differential Geometry -- Controllability of Continuous Systems. |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc | This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen-chain, tree, and isolated vertex-and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. <The text is illustrated with MATLAB�/Simulink� simulations that demonstrate the effectiveness of the methods detailed. Readers interested in aircraft, vehicle control or various forms of walking robot will be able to learn from Analysis and Control of Underactuated Mechanical Systems how to estimate the degree of complexity required in the control design of several classes of underactuated systems and proceed on to further generate more systematic control laws according to its methods of analysis. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Cherki, Brahim. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Djema�i, Mohamed. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Busawon, Krishna. |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | http://dx.doi.org/10.1007/978-3-319-02636-7 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | eBooks |
| 264 #1 - | |
| -- | Cham : |
| -- | Springer International Publishing : |
| -- | Imprint: Springer, |
| -- | 2014. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
| -- | cr |
| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Automotive engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Aerospace engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Astronautics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Automation. |
| 650 14 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics and Automation. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Aerospace Technology and Astronautics. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Automotive Engineering. |
| 912 ## - | |
| -- | ZDB-2-ENG |
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