Lyapunov-Based Control of Mechanical Systems
Birkhauser Boston Inc (Verlag)
978-0-8176-4086-6 (ISBN)
1 Introduction.- 1.1 Lyapunov-Based Control.- 1.2 Rigid Mechanical Systems.- 1.3 Flexible Mechanical Systems.- 1.4 Real-Time Control Implementation.- 2 Control Techniques for Friction Compensation.- 2.1 Introduction.- 2.2 Reduced-Order Friction Model.- 2.3 Control Designs for Reduced-Order Model.- 2.4 Full-Order Friction Model.- 2.5 Control Designs for Full-Order Model.- 2.6 Notes.- 3 Full-State Feedback Tracking Controllers.- 3.1 Introduction.- 3.2 System Model.- 3.3 Problem Statement.- 3.4 Standard Adaptive Control.- 3.5 Desired Trajectory-Based Adaptive Control.- 3.6 Control/Adaptation Law Modularity.- 3.7 Notes.- 4 Output Feedback Tracking Controllers.- 4.1 Introduction.- 4.2 Problem Statement.- 4.3 Model-Based Observer/Control.- 4.4 Linear Filter-Based Adaptive Control.- 4.5 Nonlinear Filter-Based Adaptive Control.- 4.6 Notes.- 5 Strings and Cables.- 5.1 Introduction.- 5.2 Actuator-String System.- 5.3 Cable System.- 5.4 Notes.- 6 Cantilevered Beams.- 6.1 Introduction.- 6.2 Euler-Bernoulli Beam.- 6.3 Timoshenko Beam.- 6.4 Notes.- 7 Boundary Control Applications.- 7.1 Introduction.- 7.2 Axially Moving String System.- 7.3 Flexible Link Robot Arm.- 7.4 Flexible Rotor System.- 7.5 Notes.- Appendices.- A Mathematical Background.- References.- B Bounds for General Rigid Mechanical System.- References.- C Bounds for the Puma Robot.- References.- D Control Programs.- D.1 DCAL Controller.- D.2 Flexible Rotor.
Reihe/Serie | Control Engineering |
---|---|
Zusatzinfo | XIII, 316 p. |
Verlagsort | Secaucus |
Sprache | englisch |
Maße | 155 x 235 mm |
Themenwelt | Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik |
Technik ► Elektrotechnik / Energietechnik | |
Technik ► Maschinenbau | |
Schlagworte | control engineering • mechanical engineering • Robotics |
ISBN-10 | 0-8176-4086-X / 081764086X |
ISBN-13 | 978-0-8176-4086-6 / 9780817640866 |
Zustand | Neuware |
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