Stabilisation and motion control of unstable objects / Alexander M. Formalskii.

Format:

Book

Author/Creator:

Formalʹskiĭ, A. M. (Aleksandr Moiseevich), author.

Series:

De Gruyter studies in mathematical physics ; Volume 33.

De Gruyter Studies in Mathematical Physics, 2194-3532 ; Volume 33

Language:

English

Subjects (All):

Automatic control.

Mechanical movements.

Control theory.

Algorithms.

Physical Description:

1 online resource (256 pages) : illustrations.

Edition:

1st ed.

Place of Publication:

Berlin, Germany ; Boston, [Massachusetts] : De Gruyter, 2015.

Language Note:

English

Summary:

Systems with mechanical degrees of freedom containing unstable objects are analysed in this monograph and algorithms for their control are developed, discussed, and numerically tested. This is achieved by identifying unstable modes of motion and using all available resources to suppress them. By using this approach the region of states from which a stable regime can be reached is maximised. The systems discussed in this book are models for pendula and vehicles and find applications in mechatronics, robotics as well as in mechanical and automotive engineering.

Contents:

Front matter

Contents

Preface to English Edition

Preface

Part I: Devices containing a single-link pendulum

1. A pendulum with stationary pivot

2. A pendulum with wheel-based pivot

3. A pendulum with a flywheel

4. Wheel rolling control by means of a pendulum

5. Optimal swinging and damping of a swing

6. Pendulum control that minimizes energy consumption

Part II: Double physical pendulum

7. Local stabilization of an inverted pendulum by means of a single control torque

8. Optimal control design for swinging and damping a double pendulum

9. Global stabilization of an inverted pendulum controlled by torque in the inter-link joint

10. Global stabilization of an inverted pendulum controlled by torque in the pivot

11. Multi-link pendulum on a moving base

Part III: Ball on a beam

12. Stabilization of a ball on a straight beam

13. Stabilization of a ball on a curvilinear beam

Part IV: Gyroscopic stabilization of a two-wheel bicycle

14. Bicycle design

15. Designing a control law to stabilize the bicycle tilt

Part V: Avoiding undesired vibrations

16. Bang-bang control and fluent control

17. Trapezoidal control for a system with compliant elements

Bibliography

Index

Notes:

Bibliographic Level Mode of Issuance: Monograph

Includes bibliographical references and index.

Description based on online resource; title from PDF title page (ebrary, viewed February 10, 2016).

ISBN:

9783110392821

3110392828

9783110375893

3110375893

OCLC:

935641109