Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design
Author:   Robert Seifried
Publisher:   Springer International Publishing AG
Edition:   2014 ed.
Volume:   205
ISBN:  

9783319012278


Pages:   249
Publication Date:   20 November 2013
Format:   Hardback
Availability:   Manufactured on demand   Availability explained
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Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design


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Overview

Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

Full Product Details

Author:   Robert Seifried
Publisher:   Springer International Publishing AG
Imprint:   Springer International Publishing AG
Edition:   2014 ed.
Volume:   205
Dimensions:   Width: 15.50cm , Height: 1.60cm , Length: 23.50cm
Weight:   5.207kg
ISBN:  

9783319012278


ISBN 10:   3319012274
Pages:   249
Publication Date:   20 November 2013
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Hardback
Publisher's Status:   Active
Availability:   Manufactured on demand   Availability explained
We will order this item for you from a manufactured on demand supplier.

Table of Contents

1 Introduction.- 2 Multibody Systems.- 3 Feedback Linearization and Model Inversion of Nonlinear Systems.- 4 Trajectory Tracking of Multibody Systems.- 5 Model Inversion Using Servo-Constraints.- 6 Trajectory Tracking of Flexible Multibody Systems.- 7 Optimal System Design.- 8 Concluding Remarks.- Index.

Reviews

From the reviews: This is a compact monograph on underactuated multibody systems. `Underactuated' refers to systems with more degrees of freedom than there are actuators, or controls. ... The book is well written with well-prepared figures and excellent editing. ... the book is likely to be a very useful reference for those theoreticians, students, and practitioners working in one of the many areas discussed. (Ronald L. Huston, zbMATH, Vol. 1283, 2014)


From the reviews: This is a compact monograph on underactuated multibody systems. 'Underactuated' refers to systems with more degrees of freedom than there are actuators, or controls. ... The book is well written with well-prepared figures and excellent editing. ... the book is likely to be a very useful reference for those theoreticians, students, and practitioners working in one of the many areas discussed. (Ronald L. Huston, zbMATH, Vol. 1283, 2014)


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