TY  - BOOK
AU  - Moreno-Valenzuela,Javier
AU  - Aguilar-Avelar,Carlos
ED  - SpringerLink (Online service)
TI  - Motion Control of Underactuated Mechanical Systems
T2  - Intelligent Systems, Control and Automation: Science and Engineering,
SN  - 9783319583198
AV  - TJ210.2-211.495 
U1  - 629.8 23
PY  - 2018///
CY  - Cham
PB  - Springer International Publishing, Imprint: Springer
KW  - Control engineering
KW  - Robotics
KW  - Mechatronics
KW  - Mechanics
KW  - Mechanical engineering
KW  - Control, Robotics, Mechatronics
KW  - Classical Mechanics
KW  - Mechanical Engineering
N1  - Acceso multiusuario; Preface -- Notation and Acronyms -- 1. Introduction -- 2. Identification of underactuated mechanical systems -- 3. Feedback linearization controller for arm trajectory tracking of the Furuta pendulum -- 4. Adaptive neural network controller for arm trajectory tracking of the Furuta pendulum -- 5. Feedback linearization controller for wheel trajectory tracking of the inertia wheel pendulum -- 6. Adaptive controllers for pendulum trajectory tracking of the inertia wheel pendulum -- Appendices -- References.
N2  - This volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines.
UR  - http://148.231.10.114:2048/login?url=https://doi.org/10.1007/978-3-319-58319-8
ER  -