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

• 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

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...