| Description |
1 online resource (266 pages) |
| Series |
De Gruyter studies in mathematical physics ; Volume 33 |
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De Gruyter studies in mathematical physics ; v. 33.
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| Contents |
Frontmatter -- Contents -- Preface to English Edition -- Preface -- Part I: Devices containing a single-link pendulum -- 1. A pendulum with stationary pivot -- 2. A pendulum with wheel-based pivot -- 3. A pendulum with a flywheel -- 4. Wheel rolling control by means of a pendulum -- 5. Optimal swinging and damping of a swing -- 6. Pendulum control that minimizes energy consumption -- Part II: Double physical pendulum -- 7. Local stabilization of an inverted pendulum by means of a single control torque -- 8. Optimal control design for swinging and damping a double pendulum -- 9. Global stabilization of an inverted pendulum controlled by torque in the inter-link joint -- 10. Global stabilization of an inverted pendulum controlled by torque in the pivot -- 11. Multi-link pendulum on a moving base -- Part III: Ball on a beam -- 12. Stabilization of a ball on a straight beam -- 13. Stabilization of a ball on a curvilinear beam -- Part IV: Gyroscopic stabilization of a two-wheel bicycle -- 14. Bicycle design -- 15. Designing a control law to stabilize the bicycle tilt -- Part V: Avoiding undesired vibrations -- 16. Bang-bang control and fluent control -- 17. Trapezoidal control for a system with compliant elements -- Bibliography -- Index |
| 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. These systems are models for pendula and vehicles and find applications in mechatronics, robotics as well as in mechanical and automotive engineering |
| Bibliography |
Includes bibliographical references and index |
| Notes |
Translated from Russian |
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Print version record |
| Subject |
Control theory.
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Algorithms.
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Mechanical movements.
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Algorithms
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algorithms.
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SCIENCE -- Mechanics -- Dynamics.
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Algorithms
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Control theory
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Mechanical movements
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| Form |
Electronic book
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| ISBN |
3110375893 |
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9783110375893 |
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9783110392821 |
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3110392828 |
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9783110375909 |
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3110375907 |
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3110375826 |
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9783110375824 |
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