Cover Image

Analysis and control of underactuated mechanical systems /

Bibliographic Details
Main Authors: Choukchou-Braham, Amal (Author), Cherki, Brahim (Author), Djemai, Mohamed (Author), Busawon, Krishna (Author)
Format: Book
Language:English
Published: Cham ; New York : Springer, [2014]
Subjects:
Astronautics.
Nonlinear systems.
Table of Contents:
  • Introduction
  • 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.