000			03829nam a22005535i 4500
001			978-3-319-02636-7
003			DE-He213
005			20200421111205.0
007			cr nn 008mamaa
008			131115s2014 gw | s |||| 0|eng d
020			_a9783319026367 _9978-3-319-02636-7
024	7		_a10.1007/978-3-319-02636-7 _2doi
050		4	_aTJ210.2-211.495
050		4	_aT59.5
072		7	_aTJFM1 _2bicssc
072		7	_aTEC037000 _2bisacsh
072		7	_aTEC004000 _2bisacsh
082	0	4	_a629.892 _223
100	1		_aChoukchou-Braham, Amal. _eauthor.
245	1	0	_aAnalysis and Control of Underactuated Mechanical Systems _h[electronic resource] / _cby Amal Choukchou-Braham, Brahim Cherki, Mohamed Djema�i, Krishna Busawon.
264		1	_aCham : _bSpringer International Publishing : _bImprint: Springer, _c2014.
300			_aXV, 138 p. 55 illus., 10 illus. in color. _bonline resource.
336			_atext _btxt _2rdacontent
337			_acomputer _bc _2rdamedia
338			_aonline resource _bcr _2rdacarrier
347			_atext file _bPDF _2rda
505	0		_aIntroduction -- 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			_aThis 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.
650		0	_aEngineering.
650		0	_aAutomotive engineering.
650		0	_aAerospace engineering.
650		0	_aAstronautics.
650		0	_aRobotics.
650		0	_aAutomation.
650	1	4	_aEngineering.
650	2	4	_aRobotics and Automation.
650	2	4	_aAerospace Technology and Astronautics.
650	2	4	_aAutomotive Engineering.
700	1		_aCherki, Brahim. _eauthor.
700	1		_aDjema�i, Mohamed. _eauthor.
700	1		_aBusawon, Krishna. _eauthor.
710	2		_aSpringerLink (Online service)
773	0		_tSpringer eBooks
776	0	8	_iPrinted edition: _z9783319026350
856	4	0	_uhttp://dx.doi.org/10.1007/978-3-319-02636-7
912			_aZDB-2-ENG
942			_cEBK
999			_c54078 _d54078