mojoreads
Community
Underactuated Mechanical Nonminimum-Phase Systems
Philippe Mullhaupt

Underactuated Mechanical Nonminimum-Phase Systems

!
0 Ratings
!Paperback
!
Want to Read
!
Reading
!
Read
!
INFO
!
MOJOS
!
REVIEWS
SUMMARY
Underactuated mechanical systems have fewer independent actuators than the number of degrees of freedom. This thesis establishes the formal link between nonminimum phase and underactuation and proposes suitable control techniques. Two-link underactuated mechanical systems without friction are shown to be nonminimum phase for those outputs that i) correspond to an arbitrary combination of the coordinates, and ii) are small-time locally controllable. On the control side, the forces present in these systems are separated into two categories, namely the actuator forces (direct effect of the input), and the state-dependent forces (integral effect of the input) such as gravity, Coriolis, centrifugal and possibly aerodynamic forces. The first scheme neglects the direct influence of the input, leading to a minimum-phase, flat approximation. The second strategy does not neglect the nonminimum-phase part but rather transforms it into a delay. These schemes are illustrated on a two-degree-of-freedom helicopter termed the Toycopter. In this system, the aerodynamic force is manipulated by changing the propeller rotation speed while maintaining the angle of attack constant.
AUTHOR BIO
Philippe Mullhaupt received a M. Sc. in Electrical Engineering from the Swiss Federal Insitute of Technology (EPFL) in 1993 and a "Diplôme d'Etudes Approfondies" in Signal Processing and Control from the Unversity of Paris XI in 1994. In 1999 he received his Ph. D. degree. He currently teaches and conducts research in Nonlinear Control.

BOOK DETAILS

PUBLISHER
EDITION
01.09.2009
TYPE
Paperback
ISBN
9783639190496
LANGUAGE
English
PAGES
100
KEYWORDS
MOJOS
!
Does this book have mojo?
Let others know why they should read it!
REVIEWS
!
Be the first to write a review!
This might be a once in a lifetime opportunity ;)
German
  
English
mojoreads Instamojoreads Twittermojoreads Facebook