Non-Linear Control for Underactuated Mechanical Systems

by Rogelio Lozano

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1 Introduction.- 1.1 Motivation.- 1.2 Outline of the book.- 1.2.1 Energy-based control approaches for several underactuated mechanical systems.- 1.2.2 The hovercraft model, the PVTOL aircraft and the helicopter.- 2 Theoretical preliminaries.- 2.1 Lyapunov stability.- 2.2 Lyapunov direct method.- 2.3 Passivity and dissipativity.- 2.4 Stabilization.- 2.5 Non-holonomic systems.- 2.6 Underactuated systems.- 2.7 Homoclinic orbit.- 3 The cart-pole system.-...

Format:Hardcover

Language:English

ISBN:1852334231

ISBN13:9781852334239

Release Date:November 2001

Publisher:Springer

Length:312 Pages

Weight:1.35 lbs.

Dimensions:0.8" x 6.1" x 9.2"

Related Subjects

Engineering Technology

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Non-Linear Control for Underactuated Mechanical Systems

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