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

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

This monograph presents readers with instruments for the research, and regulate of structures with fewer keep watch over inputs than levels of freedom to be managed, i.e., underactuated structures. The textual content offers with the results of a scarcity of a normal idea that might permit methodical therapy of such platforms and the advert hoc method of keep watch over layout that regularly effects, enforcing a degree of association every time the latter is lacking.

The authors take as their start line the development of a graphical characterization or regulate move diagram reflecting the transmission of generalized forces throughout the levels of freedom. Underactuated platforms are categorized in line with the 3 major constructions in which this is often came across to happen—chain, tree, and remoted vertex—and keep an eye on layout approaches proposed. The process is utilized to a number of recognized examples of underactuated platforms: acrobot; pendubot; Tora method; ball and beam; inertia wheel; and robot arm with elastic joint.

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

Readers attracted to plane, motor vehicle keep watch over or numerous sorts of strolling robotic might be in a position to examine from Underactuated Mechanical Systems tips on how to estimate the measure of complexity required within the keep watch over layout of a number of periods of underactuated structures and continue directly to extra generate extra systematic regulate legislation in accordance with its equipment of analysis.

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Additional resources for Analysis and Control of Underactuated Mechanical Systems

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