{"product_id":"9781447170594","title":"Control Design and Analysis for Underactuated Robotic Systems","description":"\u003ch1\u003eControl Design and Analysis for Underactuated Robotic Systems\u003c\/h1\u003e \u003ch2\u003eXin, Xin; Liu, Yannian\u003c\/h2\u003e \u003cp\u003e\u003c\/p\u003e\u003cp\u003eThe last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). \u003ci\u003eC\u003c\/i\u003e\u003ci\u003eontrol\u003c\/i\u003e\u003ci\u003e Design and Analysis \u003c\/i\u003e\u003ci\u003efor \u003c\/i\u003e\u003ci\u003eU\u003c\/i\u003e\u003ci\u003enderactuated \u003c\/i\u003e\u003ci\u003eR\u003c\/i\u003e\u003ci\u003eobotic \u003c\/i\u003e\u003ci\u003eS\u003c\/i\u003e\u003ci\u003eyste\u003c\/i\u003e\u003ci\u003ems\u003c\/i\u003e presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and\/or with underactuation degree two. It presents novel notions, features, design techniques and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs.\u003c\/p\u003e\u003cp\u003e\u003ci\u003eControl Design and Analysis for Underactuated Robotic Systems\u003c\/i\u003e includes the modelling, control design and analysis presented in a systematic way particularly for the following examples:\u003c\/p\u003e\u003cp\u003el  directly and remotely driven  Acrobots\u003c\/p\u003e\u003cp\u003el  Pendubot\u003c\/p\u003e\u003cp\u003el  rotational pendulum\u003c\/p\u003e\u003cp\u003el  counter-weighted Acrobot\u003c\/p\u003e\u003cp\u003e2-link underactuated robot with flexible elbow joint\u003c\/p\u003e\u003cp\u003el  variable-length pendulum\u003c\/p\u003e\u003cp\u003el  3-link gymnastic robot with passive first joint\u003c\/p\u003e\u003cp\u003el  n-link planar robot with passive first joint\u003c\/p\u003e\u003cp\u003el  n-link planar robot with passive single joint\u003c\/p\u003e\u003cp\u003edouble, or two parallel pendulums on a cart\u003c\/p\u003e\u003cp\u003el  3-link planar robots with underactuation degree two\u003c\/p\u003e\u003cp\u003e2-link free flying robot\u003c\/p\u003e\u003cp\u003eThe theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum.\u003c\/p\u003e\u003cp\u003e\u003ci\u003eC\u003c\/i\u003e\u003ci\u003eontrol\u003c\/i\u003e\u003ci\u003e Design and Analysis \u003c\/i\u003e\u003ci\u003efor \u003c\/i\u003e\u003ci\u003eU\u003c\/i\u003e\u003ci\u003enderactuated \u003c\/i\u003e\u003ci\u003eR\u003c\/i\u003e\u003ci\u003eobotic \u003c\/i\u003e\u003ci\u003eS\u003c\/i\u003e\u003ci\u003eyste\u003c\/i\u003e\u003ci\u003ems\u003c\/i\u003e is intended for advanced undergraduate and graduate students and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.\u003c\/p\u003e \u003ch3\u003eDetails\u003c\/h3\u003e \u003cp\u003ePublished by: Springer\u003c\/p\u003e \u003cp\u003ePublication Date: 2017-04-30\u003c\/p\u003e \u003cp\u003eFormat: Paperback\u003c\/p\u003e \u003cp\u003eISBN-13: 9781447170594\u003c\/p\u003e \u003cp\u003eDOI: 10.1007\/978-1-4471-6251-3\u003c\/p\u003e \u003cp\u003eDimensions: 235cm x155cm\u003c\/p\u003e \u003cp\u003ePages: 319\u003c\/p\u003e ","brand":"Springer London","offers":[{"title":"Default Title","offer_id":49477556142220,"sku":"9781447170594","price":152.99,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0710\/9545\/1788\/files\/9781447170594.jpg?v=1777998656","url":"https:\/\/lateknightbooks.com\/products\/9781447170594","provider":"Late Knight Books and Services, LLC","version":"1.0","type":"link"}