LEADER 03607oam 2200493 450 001 9910299494003321 005 20190911112725.0 010 $a3-319-02636-4 024 7 $a10.1007/978-3-319-02636-7 035 $a(OCoLC)867727781 035 $a(MiFhGG)GVRL6ULX 035 $a(EXLCZ)993710000000074651 100 $a20131108d2014 uy 0 101 0 $aeng 135 $aurun|---uuuua 181 $ctxt 182 $cc 183 $acr 200 10$aAnalysis and control of underactuated mechanical systems /$fAmal Choukchou-Braham [and three others] 205 $a1st ed. 2014. 210 1$aCham, Switzerland :$cSpringer,$d2014. 215 $a1 online resource (xv, 138 pages) $cillustrations (some color) 225 0 $aGale eBooks 300 $aDescription based upon print version of record. 311 $a3-319-02635-6 320 $aIncludes bibliographical references and index. 327 $aIntroduction -- Generalities and State-of-the-Art on the Control of Underactuated Mechanical Systems.- Underactuated Mechanical Systems from the Langrangian formalism -- Classification of Underactuated Mechanical Systems -- Control Design Schemes for Underactuated Mechanical Systems.- Appendices: Theoretical Background on Nonlinear System Stability and Control -- Limits of Linearization and Dangers of Destabilization -- Differential Geometry -- Controllability of Continuous Systems. 330 $aThis monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen?chain, tree, and isolated vertex?and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint.