This book resents a switched finite time control philosophy to stabilize a class of underactuated 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.
Mathematical 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.
From the reviews:
This is a monograph focusing on the control of a class of undergraduate mechanical systems & which are not linearly controllable. & The book is recommended to researchers, doctoral students and application engineers interested in the automatic control of underactuated mechanical systems. (Octavian Pastravanu, Zentralblatt MATH, Vol. 1121 (23), 2007)
Presents a switched finite time control philosophy to stabilize a class of underactuated systems
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