Inverse Dynamics Of Underactuated Flexible Mechanical Systems Governed By Quasi Linear Hyperbolic Partial Differential Equations

This work is about the inverse dynamics of underactuated flexible mechanical systems governed by quasi-linear hyperbolic partial differential equations subjected to time-varying Dirichlet boundary conditions that are enforced by unknown, spatially disjunct, hence non-collocated Neumann boundary conditions.

In this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.

In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems. Contents:IntroductionPreliminariesUnderactuated System Dynamics and Coordinate TransformationController DesignCart Pole SystemOverhead CranesTORA SystemRotary Inverted PendulumVibration AbsorberPendubotBibliographyIndex Readership: Graduate students, researchers, and academics in control engineering, mechanical engineering, electrical & electronic engineering, and optimization and control theory. Keywords:Adaptive Control;Underactuated Systems;Approximation Technique

This monograph addresses the global controllability of partial differential equations in the context of multiplicative (or bilinear) controls, which enter the model equations as coefficients. The methodology is illustrated with a variety of model equations.

This book contains the edited version of the lectures presented at the NATO Advanced Study Institute on computer-aided analysis of rigid and flexible mechanical systems, held in Troacuteia, Portugal, from June 27-July 9, 1993. The topics presented include formulations and numerical aspects of rigid and flexible multibody dynamics, object-oriented paradigms, optimal design and synthesis, robotics, kinematics, path planning, control, impact dynamics and aspects of application."

This useful reference provides recent results as well as entirely new material on control problems for partial differential equations.

Mechanical systems are becoming increasingly sophisticated and continually require greater precision, improved reliability, and extended life. To meet the demand for advanced mechanisms and systems, present and future engineers must understand not only the fundamental mechanical components, but also the principles of vibrations, stability, and bala