Block Backstepping Design Of Nonlinear State Feedback Control Law For Underactuated Mechanical Systems by Shubhobrata RudraBlock Backstepping Design Of Nonlinear State Feedback Control Law For Underactuated Mechanical Systems by Shubhobrata Rudra

Block Backstepping Design Of Nonlinear State Feedback Control Law For Underactuated Mechanical…

byShubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra

Hardcover | September 15, 2016

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This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. 

An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts.
 
The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.
Dr. Shubhobrata Rudra received his Bachelor's degree in Electrical Engineering in 2007 from West Bengal University of Technology, India, and Master of Electrical Engineering in 2010 and Ph.D. in Electrical Engineering 2015 from Jadavpur University, India. He has secured the University gold medal for standing first in the order of merit...
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Title:Block Backstepping Design Of Nonlinear State Feedback Control Law For Underactuated Mechanical…Format:HardcoverDimensions:171 pages, 23.5 × 15.5 × 0.03 inPublished:September 15, 2016Publisher:Springer-Verlag/Sci-Tech/TradeLanguage:English

The following ISBNs are associated with this title:

ISBN - 10:981101955X

ISBN - 13:9789811019555

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Table of Contents

Introduction.- Theoretical Preliminaries.- Block Backstepping Control of the Underactuated Mechanical Systems.- Applications on the 2-DOF Underactuated Mechanical Systems: Some Case Studies.- Applications on the Underactuated Mechanical Systems with Higher Degrees of Freedom: Some Case Studies.- Scope of the Future Research.