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019 _a1005135640
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020 _a3319583190
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020 _a9783319583198
_q(electronic bk.)
020 _z9783319583181
_q(print)
024 7 _a10.1007/978-3-319-58319-8
_2doi
035 _a(OCoLC)994222452
035 _a(OCoLC)994222452
_z(OCoLC)1005135640
_z(OCoLC)1012067659
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082 0 4 _a629.8
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100 1 _aMoreno-Valenzuela, Javier
_0http://id.loc.gov/authorities/names/no2017129096
_eauthor
245 1 0 _aMotion control of underactuated mechanical systems /
_cJavier Moreno-Valenzuela, Carlos Aguilar-Avelar
264 1 _aCham, Switzerland :
_bSpringer,
_c2018
300 _a1 online resource (xi, 223 pages) :
_billustrations (some color)
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
340 _gpolychrome
_2rdacc
_0http://rdaregistry.info/termList/RDAColourContent/1003
490 1 _aInternational series on intelligent systems, control and automation--science and engineering,
_x2213-8986 ;
_vvolume 88
504 _aIncludes bibliographical references and index
505 0 _aPreface -- Notation and Acronyms -- 1. Introduction -- 2. Identification of underactuated mechanical systems -- 3. Feedback linearization controller for arm trajectory tracking of the Furuta pendulum -- 4. Adaptive neural network controller for arm trajectory tracking of the Furuta pendulum -- 5. Feedback linearization controller for wheel trajectory tracking of the inertia wheel pendulum -- 6. Adaptive controllers for pendulum trajectory tracking of the inertia wheel pendulum -- Appendices -- References
506 _aAvailable to OhioLINK libraries
520 _aThis volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines
650 0 _aAutomatic control.
_0http://id.loc.gov/authorities/subjects/sh85010089
655 4 _aElectronic books
700 1 _aAguilar-Avelar, Carlos,
_0http://id.loc.gov/authorities/names/no2017126112
_eauthor
710 2 _aOhio Library and Information Network.
_0http://id.loc.gov/authorities/names/no95058981
776 0 8 _iPrinted edition:
_z9783319583181
830 0 _aInternational series on intelligent systems, control and automation--science and engineering ;
_0http://id.loc.gov/authorities/names/no2007035667
_vv. 88.
_x2213-8986
856 _uhttps://drive.google.com/file/d/1987GWfL2_j-MBD7FehrlXYnJ6enX0UDa/view?usp=sharing
999 _c13236
_d13236