Titlebook: Non-linear Control for Underactuated Mechanical Systems; Isabelle Fantoni,Rogelio Lozano Book 2002 Springer-Verlag London 2002 Control.Con

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Communications and Control Engineeringhttp://image.papertrans.cn/n/image/667116.jpg

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https://doi.org/10.1007/978-1-4471-0177-2Control; Control Engineering; Control Theory; Energy-based Control; Lyapunov Theory; Mechanical Systems; N

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The planar flexible-joint robot,since the pendulum and the pendubot move in a vertical plane. On the other hand, a pendulum or a pendubot moving in a horizontal plane has no potential energy. No gravitational forces are applied on the system.

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The ball and beam acting on the ball,1 is motivated by the control of small rotational oscillations of platforms and vehicle suspensions. For simplicity, we assume that the center of the beam is connected to the pivot using a rotational spring and we neglect friction.

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Helicopter on a platform,er, we focus on the particular case of a reduced order model (3-DOF) representing the scale model helicopter mounted on an experimental platform. We note that both cases represent underactuated systems (υ € . for the 7-DOF model and υ € . for the 3-DOF model studied in this chapter).

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