01122nam2-2200349---450-99000328210020331620090626110209.0000328210USA01000328210(ALEPH)000328210USA0100032821020090626d1981----km-y0itay50------baengGB||||||||001yyInorganic coordination compoundsGeorge B. KauffmanLondon [etc.]Heydencopyr. 1981XVII, 205 p.ill. graf.21 cmNobel prize topics in chemistryA series of historical monographs on fundamentals of chemistry10010003282082001Nobel prize topics in chemistry1Chimica inorganica546KAUFFMAN,George B.605114ITsalbcISBD990003282100203316540 NPT (1)5032/CBS54000224558BKSCIRSIAV69020090626USA011100RSIAV69020090626USA011102Inorganic coordination compounds1117770UNISA04186nam 22006135 450 991025435100332120200629225632.0981-10-1956-810.1007/978-981-10-1956-2(CKB)3710000000852803(EBL)4676684(DE-He213)978-981-10-1956-2(MiAaPQ)EBC4676684(PPN)195508998(EXLCZ)99371000000085280320160908d2017 u| 0engur|n|---|||||txtrdacontentcrdamediacrrdacarrierBlock Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems /by Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra1st ed. 2017.Singapore :Springer Singapore :Imprint: Springer,2017.1 online resource (183 p.)Description based upon print version of record.981-10-1955-X Includes bibliographical references.Introduction -- Theoretical Preliminaries -- Block Backstepping Control of the Underactuated Mechanical Systems -- Applications on the 2-DOF Underactuated Mechanical Systems: Some Case Studies -- Applications on the Underactuated Mechanical Systems with Higher Degrees of Freedom: Some Case Studies -- Scope of the Future Research.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.VibrationDynamicsDynamicsAutomatic controlElectrical engineeringVibration, Dynamical Systems, Controlhttps://scigraph.springernature.com/ontologies/product-market-codes/T15036Control and Systems Theoryhttps://scigraph.springernature.com/ontologies/product-market-codes/T19010Electrical Engineeringhttps://scigraph.springernature.com/ontologies/product-market-codes/T24000Vibration.Dynamics.Dynamics.Automatic control.Electrical engineering.Vibration, Dynamical Systems, Control.Control and Systems Theory.Electrical Engineering.620Rudra Shubhobrataauthttp://id.loc.gov/vocabulary/relators/aut970633Barai Ranjit Kumarauthttp://id.loc.gov/vocabulary/relators/autMaitra Madhubantiauthttp://id.loc.gov/vocabulary/relators/autBOOK9910254351003321Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems2206196UNINA