Analysis and Control of Underactuated Mechanical Systems

Detalles Bibliográficos
Autor Principal:	Choukchou-Braham, Amal
Otros autores o Colaboradores:	Cherki, Brahim, Djemai, Mohamed, Busawon, Krishna
Formato:	Libro
Lengua:	inglés
Datos de publicación:	Cham : Springer International Publishing : Imprint: Springer, 2014.
Temas:	Engineering. Automotive engineering. Aerospace engineering. Astronautics. Robotics. Automation.
Acceso en línea:	http://dx.doi.org/10.1007/978-3-319-02636-7
Resumen:	This 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 happenâ_"chain, tree, and isolated vertexâ_"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. The text is illustrated with MATLABÂ®/SimulinkÂ® simulations that demonstrate the effectiveness of the methods detailed. Readers interested in aircraft, vehicle control or various forms of walking robot will be able to learn from Analysis and Control of Underactuated Mechanical Systems how to estimate the degree of complexity required in the control design of several classes of underactuated systems and proceed on to further generate more systematic control laws according to its methods of analysis.
Descripción Física:	xv, 138 p. : il.
ISBN:	9783319026367
DOI:	10.1007/978-3-319-02636-7

MARC


LEADER	00000Cam#a22000005i#4500
001	INGC-EBK-000299
003	AR-LpUFI
005	20220927105754.0
007	cr nn 008mamaa
008	131115s2014 gw \| s \|\|\|\| 0\|eng d
020			\|a 9783319026367
024	7		\|a 10.1007/978-3-319-02636-7 \|2 doi
050		4	\|a TJ210.2-211.495
050		4	\|a T59.5
072		7	\|a TJFM1 \|2 bicssc
072		7	\|a TEC037000 \|2 bisacsh
072		7	\|a TEC004000 \|2 bisacsh
100	1		\|a Choukchou-Braham, Amal. \|9 260699
245	1	0	\|a Analysis and Control of Underactuated Mechanical Systems \|h [libro electrónico] / \|c by Amal Choukchou-Braham...[et al.].
260		1	\|a Cham : \|b Springer International Publishing : \|b Imprint: Springer, \|c 2014.
300			\|a xv, 138 p. : \|b il.
336			\|a text \|b txt \|2 rdacontent
337			\|a computer \|b c \|2 rdamedia
338			\|a online resource \|b cr \|2 rdacarrier
347			\|a text file \|b PDF \|2 rda
505	0		\|a Introduction -- Generalities and State-of-the-Art on the Control of Underactuated Mechanical Systems.-Â Underactuated Mechanical Systems from the Langrangian formalism -- Classification of Underactuated Mechanical Systems -- Control Design Schemes for Underactuated Mechanical Systems.-Â Appendices: Theoretical Background on Nonlinear System Stability and Control -- Limits of Linearization and Dangers of Destabilization -- Differential Geometry -- Controllability of Continuous Systems.
520			\|a This 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 happenâ_"chain, tree, and isolated vertexâ_"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. The text is illustrated with MATLABÂ®/SimulinkÂ® simulations that demonstrate the effectiveness of the methods detailed. Readers interested in aircraft, vehicle control or various forms of walking robot will be able to learn from Analysis and Control of Underactuated Mechanical Systems how to estimate the degree of complexity required in the control design of several classes of underactuated systems and proceed on to further generate more systematic control laws according to its methods of analysis.
650		0	\|a Engineering. \|9 259622
650		0	\|a Automotive engineering. \|9 259725
650		0	\|a Aerospace engineering. \|9 259744
650		0	\|a Astronautics. \|9 259745
650		0	\|a Robotics. \|9 259596
650		0	\|a Automation. \|9 259787
700	1		\|a Cherki, Brahim. \|9 260700
700	1		\|a Djemai, Mohamed. \|9 260701
700	1		\|a Busawon, Krishna. \|9 260702
776	0	8	\|i Printed edition: \|z 9783319026350
856	4	0	\|u http://dx.doi.org/10.1007/978-3-319-02636-7
912			\|a ZDB-2-ENG
929			\|a COM
942			\|c EBK \|6 _
950			\|a Engineering (Springer-11647)
999			\|a SKV \|c 27727 \|d 27727

foreach (glob($this->path . '/sess_*') as $filename) { if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); } } return true; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return true; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Cookies empty

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1738370653.0068 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "k2rtbvrh84qs65m5vpmd5pp69a" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#905}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1506}
SessionHelper	Laminas\Stdlib\ArrayObject {#1669}

Server/Request Data

Key	Value
REDIRECT_VUFIND_ENV	"development"
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"catalogo.bibliotecas.unlp.edu.ar"
REDIRECT_STATUS	"200"
VUFIND_ENV	"development"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"catalogo.bibliotecas.unlp.edu.ar"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"catalogo.bibliotecas.unlp.edu.ar"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.52 (Ubuntu) Server at catalogo.bibliotecas.unlp.edu.ar Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.52 (Ubuntu)"
SERVER_NAME	"catalogo.bibliotecas.unlp.edu.ar"
SERVER_ADDR	"172.17.0.170"
SERVER_PORT	"443"
REMOTE_ADDR	"3.144.37.240"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"webmaster@bibliotecas.unlp.edu.ar"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"58944"
REDIRECT_URL	"/Record/dfi.27727/Details"
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/dfi.27727/Details"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1738370652.9964
REQUEST_TIME	1738370652

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Environment & details:

GET Data empty

POST Data empty

Files empty

Cookies empty

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1738370653.0068 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "k2rtbvrh84qs65m5vpmd5pp69a" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#905}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1506}
SessionHelper	Laminas\Stdlib\ArrayObject {#1669}

Server/Request Data

Key	Value
REDIRECT_VUFIND_ENV	"development"
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"catalogo.bibliotecas.unlp.edu.ar"
REDIRECT_STATUS	"200"
VUFIND_ENV	"development"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"catalogo.bibliotecas.unlp.edu.ar"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"catalogo.bibliotecas.unlp.edu.ar"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.52 (Ubuntu) Server at catalogo.bibliotecas.unlp.edu.ar Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.52 (Ubuntu)"
SERVER_NAME	"catalogo.bibliotecas.unlp.edu.ar"
SERVER_ADDR	"172.17.0.170"
SERVER_PORT	"443"
REMOTE_ADDR	"3.144.37.240"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"webmaster@bibliotecas.unlp.edu.ar"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"58944"
REDIRECT_URL	"/Record/dfi.27727/Details"
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/dfi.27727/Details"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1738370652.9964
REQUEST_TIME	1738370652

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Analysis and Control of Underactuated Mechanical Systems

MARC

Ejemplares similares

Environment & details:

Environment & details: