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Stabilisation and motion control of unstable objects

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概要 "Systems with mechanical degrees of freedom containing unstable objects are analysed in this monograph and algorithms for their control are developed, discussed, and numerically tested. This is achiev...ed by identifying unstable modes of motion and using all available resources to suppress them. By using this approach the region of states from which a stable regime can be reached is maximised. The systems discussed in this book are models for pendula and vehicles and find applications in mechatronics, robotics as well as in mechanical and automotive engineering"--続きを見る
目次 A pendulum with stationary pivot
A pendulum with wheel-based pivot
A pendulum with a flywheel
Wheel rolling control by means of a pendulum
Optimal swinging and damping of a swing
Pendulum control that minimizes energy consumption
Local stabilization of an inverted pendulum by means of a single control torque
Optimal control design for swinging and damping a double pendulum
Global stabilization of an inverted pendulum controlled by torque in the inter-link jointinverted pendulum
Global stabilization of an inverted pendulum controlled by torque in the pivot
Multi-link pendulum on a moving base
Stabilization of a ball on a straight beam
Stabilization of a ball on a curvilinear beam
Bicycle design
Designing a control law to stabilize the bicycle tilt
Bang-bang control and fluent control
Trapezoidal control for a system with compliant elements.
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登録日 2020.06.27
更新日 2020.08.05