Open AccessBook
Non-linear Control for Underactuated Mechanical Systems
Isabelle Fantoni,Rogelio Lozano +1 more
TLDR
In this article, the application of modern control theory to some important underactuated mechanical systems is discussed, such as the inverted pendulum, the pendubot, the Furuta pendulum and the inertia wheel pendulum.Abstract:
From the Publisher:
This book deals with the application of modern control theory to some important underactuated mechanical systems. It presents modelling and control of the following systems:||- the inverted pendulum||- a convey-crane system||- the pendubot system||- the Furuta pendulum||- the inertia wheel pendulum||- the planar flexible-joint robot||- the planar manipulator with two prismatic and one revolute joints||- the ball & beam system||- the hovercraft model||- the planar vertical and take-off landing (PVTOL) aircraft||- the helicopter model on a platform||- the helicopter model||In every case the model is obtained in detail using either the Euler-Lagrange formulation or the Newton's second law. We develop control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques.||This book will be of great value for PhD students and researchers in the areas of non-linear control systems.read more
Citations
More filters
Proceedings ArticleDOI
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
TL;DR: The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques.
Journal ArticleDOI
An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter
TL;DR: An integral predictive and nonlinear robust control strategy to solve the path following problem for a quadrotor helicopter with parametric and structural uncertainties presented to corroborate the effectiveness and the robustness of the proposed strategy.
Proceedings ArticleDOI
Backstepping Control for a Quadrotor Helicopter
T. Madani,Abdelaziz Benallegue +1 more
TL;DR: This paper presents a nonlinear dynamic model for a quadrotor helicopter in a form suited for backstepping control design, based on the Lyapunov stability theory.
Journal ArticleDOI
Policy search for motor primitives in robotics
Jens Kober,Jan Peters +1 more
TL;DR: A novel EM-inspired algorithm for policy learning that is particularly well-suited for dynamical system motor primitives is introduced and applied in the context of motor learning and can learn a complex Ball-in-a-Cup task on a real Barrett WAM™ robot arm.
Book ChapterDOI
Policy Search for Motor Primitives in Robotics
Jens Kober,Jan Peters +1 more
TL;DR: This paper extends previous work on policy learning from the immediate reward case to episodic reinforcement learning, resulting in a general, common framework also connected to policy gradient methods and yielding a novel algorithm for policy learning that is particularly well-suited for dynamic motor primitives.