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Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems

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 dyn...

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Detalles Bibliográficos
Autores principales: Rudra, Shubhobrata, Barai, Ranjit Kumar, Maitra, Madhubanti
Lenguaje:eng
Publicado: Springer 2017
Materias:
Acceso en línea:https://dx.doi.org/10.1007/978-981-10-1956-2
http://cds.cern.ch/record/2240548
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author Rudra, Shubhobrata
Barai, Ranjit Kumar
Maitra, Madhubanti
author_facet Rudra, Shubhobrata
Barai, Ranjit Kumar
Maitra, Madhubanti
author_sort Rudra, Shubhobrata
collection CERN
description 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.
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spelling cern-22405482021-04-21T19:23:44Zdoi:10.1007/978-981-10-1956-2http://cds.cern.ch/record/2240548engRudra, ShubhobrataBarai, Ranjit KumarMaitra, MadhubantiBlock backstepping design of nonlinear state feedback control law for underactuated mechanical systemsEngineeringThis 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.Springeroai:cds.cern.ch:22405482017
spellingShingle Engineering
Rudra, Shubhobrata
Barai, Ranjit Kumar
Maitra, Madhubanti
Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems
title Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems
title_full Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems
title_fullStr Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems
title_full_unstemmed Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems
title_short Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems
title_sort block backstepping design of nonlinear state feedback control law for underactuated mechanical systems
topic Engineering
url https://dx.doi.org/10.1007/978-981-10-1956-2
http://cds.cern.ch/record/2240548
work_keys_str_mv AT rudrashubhobrata blockbacksteppingdesignofnonlinearstatefeedbackcontrollawforunderactuatedmechanicalsystems
AT barairanjitkumar blockbacksteppingdesignofnonlinearstatefeedbackcontrollawforunderactuatedmechanicalsystems
AT maitramadhubanti blockbacksteppingdesignofnonlinearstatefeedbackcontrollawforunderactuatedmechanicalsystems