Non-Linear Control for Underactuated Mechanical Systems

Authors:
Isabelle Fantoni;Rogelio Lozano
Affiliations:
-;-
Venue:
Non-Linear Control for Underactuated Mechanical Systems
Year:
2001

Citing 0
Cited 17

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Dynamic Modelling and Stability Analysis of Model-Scale Helicopters Under Wind Gust

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MS '07 The 18th IASTED International Conference on Modelling and Simulation
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Stability analysis and time-varying walking control for an under-actuated planar biped robot

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On the dynamics of the furuta pendulum

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Synthesized design of a fuzzy logic controller for an underactuated unicycle

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A New Nonlinear Controller for Trajectory Tracking of the Longitudinal Dynamics of a Small Scale Helicopter

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Applied Bionics and Biomechanics

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Abstract

From the Publisher: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.