Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems

This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dyn...

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Bibliographic Details
Main Authors: Ru, Shubhobrata, (Author), Barai, Ranjit Kumar, (Author), Maitra, Madhubanti, (Author)
Format: eBook
Language: English
Published: Singapore : Springer, [2016]
Subjects:
Feedback control systems.
Nonlinear control theory.
elektronické knihy
electronic books
ISBN: 9789811019562
9789811019555
Physical Description: 1 online resource (xix, 171 pages) : illustrations

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020 |z 9789811019555  |q (print) 
035 |a (OCoLC)958279548  |z (OCoLC)958357562  |z (OCoLC)960737549 
100 1 |a Ru, Shubhobrata,  |e author. 
245 1 0 |a Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems /  |c Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra. 
264 1 |a Singapore :  |b Springer,  |c [2016] 
264 4 |c ©2017 
300 |a 1 online resource (xix, 171 pages) :  |b illustrations 
336 |a text  |b txt  |2 rdacontent 
337 |a počítač  |b c  |2 rdamedia 
338 |a online zdroj  |b cr  |2 rdacarrier 
504 |a Includes bibliographical references. 
505 0 |a Introduction -- Theoretical Preliminaries -- Block Backstepping Control of the Underactuated Mechanical Systems -- Applications on the 2-DOF Underactuated Mechanical Systems: Some Case Studies -- Applications on the Underactuated Mechanical Systems with Higher Degrees of Freedom: Some Case Studies -- Scope of the Future Research. 
506 |a Plný text je dostupný pouze z IP adres počítačů Univerzity Tomáše Bati ve Zlíně nebo vzdáleným přístupem pro zaměstnance a studenty 
520 |a This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension. 
590 |a SpringerLink  |b Springer Complete eBooks 
650 0 |a Feedback control systems. 
650 0 |a Nonlinear control theory. 
655 7 |a elektronické knihy  |7 fd186907  |2 czenas 
655 9 |a electronic books  |2 eczenas 
700 1 |a Barai, Ranjit Kumar,  |e author. 
700 1 |a Maitra, Madhubanti,  |e author. 
776 0 8 |i Print version:  |a Ru, Shubhobrata.  |t Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems.  |d Singapore : Springer, [2016]  |z 981101955X  |z 9789811019555  |w (OCoLC)951754079 
856 4 0 |u https://proxy.k.utb.cz/login?url=https://link.springer.com/10.1007/978-981-10-1956-2  |y Plný text 
992 |c NTK-SpringerENG 
999 |c 99336  |d 99336 
993 |x NEPOSILAT  |y EIZ 

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