| Titre : | Control theory of non-linear mechanical systems : a passivity-based and circuit-theoretic approach |
| Type de document : | texte imprimé |
| Année de publication : | 1996 |
| ISBN/ISSN/EAN : | 978-0-19-856291-7 |
| Format : | XI-280 p. / ill. / 23 cm. |
| Note générale : | Index |
| Index. décimale : | 025.47 (Catalogage matières) |
| Tags : | Systeme commande non-linéaire |
| Résumé : | This book introduces a new framework for non-linear analysis and control of intelligent machines such as robot arms, mechanical hands, and other advanced mechatronic systems. It clarifies the physical and mathematical principales underlying the complicated of non -linear mechanical systems and deal with the design of controllers that enable sophisticates tasks to be executed. A new concept called 'non - linear podition-dependent circuits' plays a crucial rol, together with passivity analysis as a generalization of the impedance concept. Adaptability and learnability of robot arms and hands as intelligent machines are also analysed through visible expressions of their dynamics via corresponding non-linear circuits and generalized impedance concepts. |
| Note de contenu : |
Contents:
*Fundamentals of robot dynamics *Stability of linear feedback control *Quasi - natural potential and saturated - position feedback *Model - based adaptive control *Iterative learning control *Non - linear position- dependent circuits ; another language for describing robot dynamics *Advaced control for electromachanical systems |
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