Control Design and Analysis for Underactuated Robotic Systems (PDF)
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The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques, and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs.
Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design, and analysis presented in a systematic way particularly for the following examples:
l directly and remotely driven Acrobots
l Pendubot
l rotational pendulum
l counter-weighted Acrobot
2-link underactuated robot with flexible elbow joint
l variable-length pendulum
l 3-link gymnastic robot with passive first joint
l n-link planar robot with passive first joint
l n-link planar robot with passive single joint
double, or two parallel pendulums on a cart
l 3-link planar robots with underactuation degree two
2-link free flying robot
The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum.
Control Design and Analysis for Underactuated Robotic Systems is intended for advanced undergraduate and graduate students, and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.
He has been concentrating on studying URSs for more than a decade. The corresponding research results have been published in 12 international journal papers including IEEE Trans. on Automatic Control, Automatica, IEEE Trans. on Robotics, IEEE Trans. on Control Technology, International Journal of Robust and Nonlinear Control and about 40 refereed conference papers mainly in IEEE Conference on Decision and Control and IFAC world congress.
Yannian Liu received the B.S. degree in electrical engineering from Sichuan University, Chengdu, China in 1988 and the M. S. and Ph.D. from Southeast University, Nanjing, China in 1991 and 1994, respectively. From 1994-1995 she was a postdoctoral researcher in Nanjing University of Aeronautics and Astronautics. From 1996 she was an
- Autoren: Xin Xin , Yannian Liu
- 2014, 2014, 319 Seiten, Englisch
- Verlag: Springer-Verlag GmbH
- ISBN-10: 144716251X
- ISBN-13: 9781447162513
- Erscheinungsdatum: 03.01.2014
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- Größe: 5.64 MB
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