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 ag
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k Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems
Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems
Shubhobrata Rudra Ranjit Kumar Barai Madhubanti Maitra •
Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems
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Shubhobrata Rudra Department of Electrical Engineering Techno India Salt Lake Kolkata, West Bengal India
Madhubanti Maitra Department of Electrical Engineering Jadavpur University Kolkata, West Bengal India
Ranjit Kumar Barai Department of Electrical Engineering Jadavpur University Kolkata, West Bengal India
ISBN 978-981-10-1955-5 DOI 10.1007/978-981-10-1956-2
ISBN 978-981-10-1956-2
(eBook)
Library of Congress Control Number: 2016947781 © Springer Science+Business Media Singapore 2017 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer Science+Business Media Singapore Pte Ltd.
I dedicate this book to Sudeshna, my friend, who helped me a lot and encouraged me to believe that I too can be an author of a reference book. Shubhobrata Rudra
Preface
The purpose of this book is to provide a detailed presentation of a novel block backstepping based control law that can address the control problems of a large class of underactuated mechanical systems in a generalized manner. Study of control problems of the underactuated systems and thereafter devising appropriate control actuations for those are presently being pursued with utmost vigor by the control research groups. The reason behind this is the appeal of the dynamic nature of the systems along with the challenges they pose. Such systems belong to a class that has a wide spectrum in reality not even restricting their domains related to Robotics, Aerospace, Industrial Processes, Marine systems etc. Consequently, a lot of theoretical propositions as w
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