Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems is popular PDF and ePub book, written by Shubhobrata Rudra in 2016-09-08, it is a fantastic choice for those who relish reading online the Technology & Engineering genre. Let's immerse ourselves in this engaging Technology & Engineering book by exploring the summary and details provided below. Remember, Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems can be Read Online from any device for your convenience.
Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems Book PDF Summary
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 dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.
Detail Book of Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems PDF
- Author : Shubhobrata Rudra
- Release : 08 September 2016
- Publisher : Springer
- ISBN : 9789811019562
- Genre : Technology & Engineering
- Total Page : 183 pages
- Language : English
- PDF File Size : 15,8 Mb
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