000 02832nam a22005055i 4500
001 978-3-540-32852-0
003 DE-He213
005 20161121231118.0
007 cr nn 008mamaa
008 100730s2006 gw | s |||| 0|eng d
020 _a9783540328520
_9978-3-540-32852-0
024 7 _a10.1007/11616269
_2doi
050 4 _aTA1-2040
072 7 _aTBC
_2bicssc
072 7 _aTEC000000
_2bisacsh
082 0 4 _a620
_223
100 1 _aBanavar, Ravi N.
_eauthor.
245 1 0 _aSwitched Finite Time Control of a Class of Underactuated Systems
_h[electronic resource] /
_cby Ravi N. Banavar, Velupillai Sankaranarayanan.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg,
_c2006.
300 _aX, 102 p. 51 illus.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aLecture Notes in Control and Information Science,
_x0170-8643 ;
_v333
505 0 _aMathematical preliminaries -- A switched finite-time controller design methodology -- Alternative control strategies for the NI -- Switched stabilization of a hovercraft -- Output feedback stabilization of a mobile robot.
520 _aThe control of mechanical systems with constraints has been a topic of intense research in the control and dynamical systems community for the past two decades. In particular, systems with velocity and/or acceleration level constraints which appear in many applications like - robotics, spacecrafts, launch vehicles, underwater vehicles - have been studied intensively. This monograph is a self-contained exposition on a switched, finite-time, control strategy for this class of systems. Beginning with basic definitions and mathematical preliminaries, the monograph works its way up to the main control algorithm. Three well-studied applications are chosen to demonstrate the algorithm. Other facets of the algorithm and an alternate algorithm are also briefly touched upon. The monograph is intended for graduate students and researchers in the area of nonlinear control and dynamical systems.
650 0 _aEngineering.
650 0 _aSystem theory.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aMechatronics.
650 1 4 _aEngineering.
650 2 4 _aEngineering, general.
650 2 4 _aSystems Theory, Control.
650 2 4 _aControl, Robotics, Mechatronics.
700 1 _aSankaranarayanan, Velupillai.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783540327998
830 0 _aLecture Notes in Control and Information Science,
_x0170-8643 ;
_v333
856 4 0 _uhttp://dx.doi.org/10.1007/11616269
912 _aZDB-2-ENG
950 _aEngineering (Springer-11647)
999 _c508760
_d508760