Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generation
clearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS),addressing control design challenges and demonstrating concepts through real-time experiments.
The book begins with advancements in UMS, introducing key concepts such as stabilization and limit
cycle generation, supported by literature examples. It then focuses on the inertia wheel inverted
pendulum, presenting a detailed discussion. The second part tackles stabilization, offering various
control solutions validated through numerical simulations and real-time experiments. The final
part addresses stable limit cycle generation, detailing three proposed control solutions and their
validation through different case studies.
This book is a valuable resource for PhD and Master students, engineers, researchers, and educators.
It provides guidance in robotics and automatic control, utilizing a simplified methodology for
controlling underactuated mechanical systems.
1. Chapter 1: Introduction and general context of underactuated mechanical systems - p. 3 2. Chapter 2: The inertia wheel inverted pendulum case study - p. 39 3. Part II: Control solutions for the stabilization problem - p. 58 4. Chapter 3: A revisited adaptive sliding mode control scheme - p. 61 5. Chapter 4: Nonlinear RISE feedback control scheme - p. 85 6. Chapter 5: Model reference adaptive IDA-PBC approach - p. 107 7. Part III: Control solutions for stable limit cycle generation problem - p. 126 8. Chapter 6: Partial feedback linearization and optimization - p. 129 9. Chapter 7: Nonlinear model predictive control - p. 169 10. Chapter 8: Dual model-free control - p. 189 11. Index - p. 213
Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generation
clearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS),addressing control design challenges and demonstrating concepts through real-time experiments.
The book begins with advancements in UMS, introducing key concepts such as stabilization and limit
cycle generation, supported by literature examples. It then focuses on the inertia wheel inverted
pendulum, presenting a detailed discussion. The second part tackles stabilization, offering various
control solutions validated through numerical simulations and real-time experiments. The final
part addresses stable limit cycle generation, detailing three proposed control solutions and their
validation through different case studies.
This book is a valuable resource for PhD and Master students, engineers, researchers, and educators.
It provides guidance in robotics and automatic control, utilizing a simplified methodology for
controlling underactuated mechanical systems.
1. Chapter 1: Introduction and general context of underactuated mechanical systems - p. 3 2. Chapter 2: The inertia wheel inverted pendulum case study - p. 39 3. Part II: Control solutions for the stabilization problem - p. 58 4. Chapter 3: A revisited adaptive sliding mode control scheme - p. 61 5. Chapter 4: Nonlinear RISE feedback control scheme - p. 85 6. Chapter 5: Model reference adaptive IDA-PBC approach - p. 107 7. Part III: Control solutions for stable limit cycle generation problem - p. 126 8. Chapter 6: Partial feedback linearization and optimization - p. 129 9. Chapter 7: Nonlinear model predictive control - p. 169 10. Chapter 8: Dual model-free control - p. 189 11. Index - p. 213
