Block Backstepping Design Of Nonlinear State Feedback Control Law For Underactuated Mechanical Systems( from 245 reviews )
AuthorShubhobrata Rudra Ranjit Kumar Barai Madhubanti Maitra
Publication date08 September 2016
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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.
Block Backstepping Design Of Nonlinear State Feedback Control Law For Underactuated Mechanical Systems
Shubhobrata Rudra Ranjit Kumar Barai Madhubanti Maitra
08 September 2016