Control of Underactuated Systems

  • Без рубрики
Год: 2014
Автор: Umar Farooq,Jason Gu and Muhammad Usman Asad
Издательство: LAP Lambert Academic Publishing
Under-actuated systems belong to the class of nonlinear systems that have fewer actuators than the degrees of freedom. The examples include mobile robots, legged robots, air crafts, helicopters and underwater robots. This work comprehensively discusses the design of linear and fuzzy logic controllers for such systems with ball on beam as the test bed. MATLAB/Simulink environment has been used to validate the designed controllers.
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