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About Saber Phdthesis
This thesis examines nonlinear control and reduction of underactuated mechanical systems, which have fewer control inputs than configuration variables. The author develops methods to transform several classes of underactuated systems into cascade nonlinear systems with triangular or nontriangular structures. These normal forms allow control design procedures to be applied. Key tools include normalized generalized momentums and their integrals, obtained from the system Lagrangian. The thesis classifies underactuated systems and applies the results to problems in robotics and aerospace, developing new control methods.
Detailed Information
| Author: | ['szepesva'] |
|---|---|
| Publication Year: | 2011 |
| Pages: | 307 |
| Language: | English |
| Format: | |
| Price: | FREE |
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