Control Design and Analysis for Underactuated Robotic Systems

The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URS). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for URS and for a class of URS including strictly global motion analysis results for URS with multiple-degree-of-freedom and/or two degrees of underactuation. §The theoretical developments are validated by experimental results and the modelling, control design and analysis included are presented in a systematic way for this important class of URS. Methodical treatment will help the reader better understanding of the power and fundamental limitations of linear and nonlinear control theory for the analysis and control of URS. §Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design and analysis presented in a systematic way particularly for the following examples:§2-link free flying robot§Directly and remotely driven acrobots§3-link gymnastic robot with passive first joint§n-link planar robot with passive first joint and/or single joints§double, variable-length and parallel pendulums on a cart§two-link underactuated robot with flexible elbow joint§counter-weighted acrobot§planar robots with underactuation degree two§Control Design and Analysis for Underactuated Robotic Systems is intended for advanced undergraduate and graduate students and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URS.§