Ebook: Non-linear Control for Underactuated Mechanical Systems

From the reviews of the first edition:

"This is an application-oriented book that is intended for engineers, graduate students, and researchers who are interested in the design of nonlinear controllers for underactuated mechanical systems. … Non-linear Control for Underactuated Mechanical Systems is an excellent source for the development of control strategies for an important class of problems, viz, the underactuated mechanical systems. The book is clearly written, and the ideas are conveyed well by the authors. … It is strongly recommended for individuals and libraries." (SC Sinha, Applied Mechanics Reviews, Vol. 55 (4), 2002)

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This book deals with the application of modern control theory to some important underactuated mechanical systems. It presents modelling and control of the following systems:
- the inverted pendulum
- a convey-crane system
- the pendubot system
- the Furuta pendulum
- the inertia wheel pendulum
- the planar flexible-joint robot
- the planar manipulator with two prismatic and one revolute joints
- the ball & beam system
- the hovercraft model
- the planar vertical and take-off landing (PVTOL) aircraft
- the helicopter model on a platform
- the helicopter model
In every case the model is obtained in detail using either the Euler-Lagrange formulation or the Newton's second law. We develop control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques.
This book will be of great value for PhD students and researchers in the areas of non-linear control systems, mechanical systems, robotics and control of helicopters. It will help the reader gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

---

This book deals with the application of modern control theory to some important underactuated mechanical systems. It presents modelling and control of the following systems:
- the inverted pendulum
- a convey-crane system
- the pendubot system
- the Furuta pendulum
- the inertia wheel pendulum
- the planar flexible-joint robot
- the planar manipulator with two prismatic and one revolute joints
- the ball & beam system
- the hovercraft model
- the planar vertical and take-off landing (PVTOL) aircraft
- the helicopter model on a platform
- the helicopter model
In every case the model is obtained in detail using either the Euler-Lagrange formulation or the Newton's second law. We develop control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques.
This book will be of great value for PhD students and researchers in the areas of non-linear control systems, mechanical systems, robotics and control of helicopters. It will help the reader gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.
Content:
Front Matter....Pages i-xi
Introduction....Pages 1-9
Theoretical preliminaries....Pages 11-20
The cart-pole system....Pages 21-42
A convey-crane system....Pages 43-51
The pendubot system....Pages 53-72
The Furuta pendulum....Pages 73-88
The reaction wheel pendulum....Pages 89-106
The planar flexible-joint robot....Pages 107-128
The PPR planar manipulator....Pages 129-142
The ball and beam acting on the ball....Pages 143-154
The hovercraft model....Pages 155-171
The PVTOL aircraft....Pages 173-194
Helicopter on a platform....Pages 195-223
Lagrangian helicopter model....Pages 225-254
Newtonian helicopter model....Pages 255-279
Back Matter....Pages 281-295

---

This book deals with the application of modern control theory to some important underactuated mechanical systems. It presents modelling and control of the following systems:
- the inverted pendulum
- a convey-crane system
- the pendubot system
- the Furuta pendulum
- the inertia wheel pendulum
- the planar flexible-joint robot
- the planar manipulator with two prismatic and one revolute joints
- the ball & beam system
- the hovercraft model
- the planar vertical and take-off landing (PVTOL) aircraft
- the helicopter model on a platform
- the helicopter model
In every case the model is obtained in detail using either the Euler-Lagrange formulation or the Newton's second law. We develop control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques.
This book will be of great value for PhD students and researchers in the areas of non-linear control systems, mechanical systems, robotics and control of helicopters. It will help the reader gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.
Content:
Front Matter....Pages i-xi
Introduction....Pages 1-9
Theoretical preliminaries....Pages 11-20
The cart-pole system....Pages 21-42
A convey-crane system....Pages 43-51
The pendubot system....Pages 53-72
The Furuta pendulum....Pages 73-88
The reaction wheel pendulum....Pages 89-106
The planar flexible-joint robot....Pages 107-128
The PPR planar manipulator....Pages 129-142
The ball and beam acting on the ball....Pages 143-154
The hovercraft model....Pages 155-171
The PVTOL aircraft....Pages 173-194
Helicopter on a platform....Pages 195-223
Lagrangian helicopter model....Pages 225-254
Newtonian helicopter model....Pages 255-279
Back Matter....Pages 281-295
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