DMCA. Copyrighted Work that you can Claim.
Base have 132 550 books.
Search: 


📙 Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems by Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra (auth.) — free pdf


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.



About book:

About file:

  • File size: 4 552 693
  • Format: pdf


Security code:
Download button

Similar books results


Control of Higher-Dimensional PDEs: Flatness and Backstepping Designs
Control of Higher-Dimensional PDEs: Flatness and Backstepping Designs free download by Thomas Meurer

This monograph presents new model-based design methods for trajectory planning, feedback stabilization, state estimation, and tracking control of distributed-parameter systems governed by partial differential equations (PDEs). Flatness and backstepping te...

Nonlinear and Adaptive Control with Applications
Nonlinear and Adaptive Control with Applications epub download by Alessandro Astolfi PhD, Dimitrios Karagiannis PhD, Romeo Ortega PhD (auth.)

Nonlinear and Adaptive Control with Applications provides a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. The authors employ a new tool based on the ideas of system immersion and manifold invaria...

Nonlinear and Adaptive Control with Applications
Nonlinear and Adaptive Control with Applications free pdf by Alessandro Astolfi PhD, Dimitrios Karagiannis PhD, Romeo Ortega PhD (auth.)

Nonlinear and Adaptive Control with Applications provides a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. The authors employ a new tool based on the ideas of system immersion and manifold invaria...

Control Theory for Engineers: A Primer
Control Theory for Engineers: A Primer pdf free by Brigitte d'Andréa-Novel, Michel De Lara

Control Theory is at the heart of information and communication technologies of complex systems. It can contribute to meeting the energy and environmental challenges we are facing. The textbook is organized in the way an engineer classically proceeds to s...

Mathematical Control Theory I: Nonlinear and Hybrid Control Systems
Mathematical Control Theory I: Nonlinear and Hybrid Control Systems free pdf by M. Kanat Camlibel, A. Agung Julius, Ramkrishna Pasumarthy, Jacquelien M.A. Scherpen (eds.)

This treatment of modern topics related to mathematical systems theory forms the proceedings of a workshop, Mathematical Systems Theory: From Behaviors to Nonlinear Control, held at the University of Groningen in July 2015. The workshop celebrated the wor...

Nonlinear H2H8 Constrained Feedback Control
Nonlinear H2H8 Constrained Feedback Control download pdf by Murad Abu-Khalaf, Jie Huang, Frank L. Lewis

Modern aerospace, automotive, nautical, industrial, microsystem-assembly and robotic systems are becoming more and more complex. High-performance vehicles no longer have built-in error safety margins, but are inherently unstable by design to allow for mor...

Nonlinear and robust control of PDE systems: methods and applications to transport-reaction processes
Nonlinear and robust control of PDE systems: methods and applications to transport-reaction processes epub download by Panagiotis D. Christofides

The interest in control of nonlinear partial differential equation (PDE) systems has been triggered by the need to achieve tight distributed control of transport-reaction processes that exhibit strong spatial variations. Drawing from recent advances in dy...

Advanced Topics in Control and Estimation of State-Multiplicative Noisy Systems
Advanced Topics in Control and Estimation of State-Multiplicative Noisy Systems free pdf by Eli Gershon, Uri Shaked

Advanced Topics in Control and Estimation of State-Multiplicative Noisy Systems begins with an introduction and extensive literature survey. The text proceeds to cover the field of H∞ time-delay linear systems where the issues of stability and L2−gain are...

Advanced Control of Industrial Processes: Structures and Algorithms
Advanced Control of Industrial Processes: Structures and Algorithms epub download by Piotr Tatjewski PhD, DSc (auth.)

Advanced Control of Industrial Processes presents the concepts and algorithms of advanced industrial process control and on-line optimisation within the framework of a multilayer structure. Relatively simple unconstrained nonlinear fuzzy control algorithm...

Small Business Manual

Socialism and International Economic Order
Socialism and International Economic Order free pdf by Elisabeth Tamedly

This extraordinary book by Elisabeth Tamedly, as scholarly as it is passionate, argues that socialism, despite its internationalist aspirations, is not capable of accomplishing stable international peace and order. If we postulate a true democracy, societ...

Socialism: Utopian and Scientific
Socialism: Utopian and Scientific pdf free by Frederick Engels

Modern socialism is not a doctrine, Engels explains, but a working-class movement growing out of the establishment of large-scale capitalist industry and its social consequences. Paper, 106 pagesEdition: 3rdIntroduction by George Novack, notes. Now with e...

Society and the Teacher's Role
Society and the Teacher's Role free download by Frank Musgrove & Philip H Taylor

This study describes research into teachers’ role conceptions and uncertainties in different types of school and neighbourhood. The authors examine in particular pupils’ and parents’ conceptions of the teacher’s role, and the conflicts which teachers expe...

Special Education and Social Interests
Special Education and Social Interests free epub by Len Barton & Sally Tomlinson

Until this book was published, most writing on special education was about specific disabilities and how to cope with them. This book, however, considers the broader context, looking at many problems for the wider system that have arisen through integrati...

Special Fuzzy Matrices for Social Scientists
Special Fuzzy Matrices for Social Scientists pdf free by W. B. Vasantha Kandasamy & Florentin Smarandache & K. Ilanthenral

This book introduces special classes of Fuzzy and Neutrosophic Matrices. These special classes of matrices are used in the construction of multi-expert special fuzzy models using FCM, FRM and FRE and their Neutrosophic analogues (simultaneous or otherwise...

Statistics for the Humanities
Statistics for the Humanities free pdf by John Canning

The humanities student or academic who wishes (or needs) to study statistics is left in somethingof a quandary. The internet, the rst port of call to most people seeking to ll a knowledge gap,is bewildering to the beginner. Wikipedia, whatever its vices, ...

Structure and Improvisation in Creative Teaching Paperback
Structure and Improvisation in Creative Teaching Paperback download pdf by R. Keith Sawyer

With an increasing emphasis on creativity and innovation in the twenty-first century, teachers need to be creative professionals just as students must learn to be creative. And yet, schools are institutions with many important structures and guidelines th...

Super Fuzzy Matrices and Super Fuzzy Models for Social Scientists
Super Fuzzy Matrices and Super Fuzzy Models for Social Scientists free pdf by W. B. Vasantha Kandasamy & Florentin Smarandache & K. Amal

This book introduces the concept of fuzzy super matrices and operations on them. The author has provided only those operations on fuzzy supermatrices that are essential for developing super fuzzy multi expert models. We do not indulge in labourious use of...

Hammarskjöld : a life
Hammarskjöld : a life free download by Hammarskjöld, Dag; Lipsey, Roger; Hammarskjöld, Dag

After his mysterious death, Dag Hammarskjöld was described by John F. Kennedy as the "greatest statesman of our century." Second secretary-general of the United Nations (1953 - 61), he is the only person to have been awarded the Nobel Peace Prize posthumo...