Block Backstepping Design Of Nonlinear State Feedback Control Law For Underactuated Mechanical Systems
by Ranjit Kumar Barai /
2016 / English / PDF
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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.
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.
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.
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.