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

By: Material type: TextTextLanguage: English Original language: Russian Series: De Gruyter studies in mathematical physics ; volume 33Publisher: Berlin ; Boston : Walter de Gruyter GmbH, [2016]Copyright date: ©2015Description: 1 online resourceContent type:
  • text
Media type:
  • computer
Carrier type:
  • online resource
ISBN:
  • 3110392828
  • 9783110375893
  • 3110375893
  • 9783110392821
Subject(s): Genre/Form: Additional physical formats: Print version:: Stabilisation and motion control of unstable objects.DDC classification:
  • 531/.3 23
LOC classification:
  • TJ213
Online resources:
Contents:
A pendulum with stationary pivot -- A pendulum with wheel-based pivot -- A pendulum with a flywheel -- Wheel rolling control by means of a pendulum -- Optimal swinging and damping of a swing -- Pendulum control that minimizes energy consumption -- Local stabilization of an inverted pendulum by means of a single control torque -- Optimal control design for swinging and damping a double pendulum -- Global stabilization of an inverted pendulum controlled by torque in the inter-link jointinverted pendulum -- Global stabilization of an inverted pendulum controlled by torque in the pivot -- Multi-link pendulum on a moving base -- Stabilization of a ball on a straight beam -- Stabilization of a ball on a curvilinear beam -- Bicycle design -- Designing a control law to stabilize the bicycle tilt -- Bang-bang control and fluent control -- Trapezoidal control for a system with compliant elements.
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"-- Provided by author.
Holdings
Item type Current library Collection Call number Status Date due Barcode Item holds
eBook eBook e-Library EBSCO Science Available
Total holds: 0

Includes bibliographical references and index.

A pendulum with stationary pivot -- A pendulum with wheel-based pivot -- A pendulum with a flywheel -- Wheel rolling control by means of a pendulum -- Optimal swinging and damping of a swing -- Pendulum control that minimizes energy consumption -- Local stabilization of an inverted pendulum by means of a single control torque -- Optimal control design for swinging and damping a double pendulum -- Global stabilization of an inverted pendulum controlled by torque in the inter-link jointinverted pendulum -- Global stabilization of an inverted pendulum controlled by torque in the pivot -- Multi-link pendulum on a moving base -- Stabilization of a ball on a straight beam -- Stabilization of a ball on a curvilinear beam -- Bicycle design -- Designing a control law to stabilize the bicycle tilt -- Bang-bang control and fluent control -- Trapezoidal control for a system with compliant elements.

"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"-- Provided by author.

Translated from Russian.

Print version record and CIP data provided by publisher; resource not viewed.

WorldCat record variable field(s) change: 650

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