Analysis and Control of Underactuated Mechanical Systems

Amal Choukchou-Braham , Brahim Cherki (1) , Mohamed Djemai (2) , Krishna Busawon (3)

1 Université Aboubekr Belkaid - University of Belkaïd Abou Bekr [Tlemcen]
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
3 University of Northumbria at Newcastle [United Kingdom]

This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking.

Domaines: Automatique / Robotique

Amal Choukchou-Braham, Brahim Cherki, Mohamed Djemai, Krishna Busawon. Analysis and Control of Underactuated Mechanical Systems. Springer International Publishing, 2013, 978-3-319-02636-7. ⟨10.1007/978-3-319-02636-7⟩. ⟨hal-03404386⟩