Titlebook: Analysis and Control of Underactuated Mechanical Systems; Amal Choukchou-Braham,Brahim Cherki,Krishna Busawo Book 2014 Springer Internatio

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https://doi.org/10.1007/978-3-658-40971-5ors of this classification proposed a systematic control design procedure of backstepping type for the chain structure only. We are therefore concerned here with the problem of synthesizing control laws for each of the structures of this classification; thus, providing a general treatment of all the

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Amal Choukchou-Braham,Brahim Cherki,Krishna BusawoShows the reader how to impose an ordered method of control and observer design on a group of systems that usually require a case-by-case approach, saving time, computational effort and expense.Extens

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Generalities and State-of-the-Art on the Control of Underactuated Mechanical Systems,arious origins of underactuation, describes the problems generated by the lack of control inputs and presents the motivation for the control of underactuated mechanical systems. Then, a brief state-of-the-art on various control design approaches applied to these systems is given.

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https://doi.org/10.1007/978-3-319-02636-7CFD; Control Diagram Flow; Nonlinear Systems; Sliding-mode Observer; Systematic Backstepping; Underactuat

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