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portada Adaptive Control of Underactuated Mechanical Systems
Type
Physical Book
Publisher
Author
Year
2015
Language
English
Pages
228
Format
Hardcover
ISBN13
9789814663540
Edition No.
1
Categories

Adaptive Control of Underactuated Mechanical Systems

An-Chyau Huang; Yung-Feng Chen; Chen-Yu Kai (Author) · World Scientific Publishing Co Pte Ltd · Hardcover

Adaptive Control of Underactuated Mechanical Systems - An-Chyau Huang; Yung-Feng Chen; Chen-Yu Kai

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Synopsis "Adaptive Control of Underactuated Mechanical Systems"

In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems.

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