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008			170711s2018 gw | s |||| 0|eng d
020			_a9783319583198
024	7		_a10.1007/978-3-319-58319-8 _2doi
040			_bspa _cES-MaUEC _dES-MaUEC
050		4	_aTJ213 _b.M674 2018 EB
100	1		_aMoreno-Valenzuela, Javier. _eautor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _0http://id.loc.gov/authorities/names/no2017129096 _1http://viaf.org/viaf/61150746899616300908/
245	1	0	_aMotion Control of Underactuated Mechanical Systems _cby Javier Moreno-Valenzuela, Carlos Aguilar-Avelar.
264		1	_aCham _bSpringer International Publishing _c2018
300			_a1 recurso en línea (XI, 223 páginas 81 ilustraciones, 66 ilustraciones a color.)
336			_2rdacontent _aTexto _btxt
337			_2rdamedia _aelectrónico _bc
338			_2rdacarrier _arecurso electrónico _bcr
347			_atext file _bPDF
490	0		_aIntelligent Systems, Control and Automation: Science and Engineering, _x2213-8986 _v88
490	0		_aEngineering (Springer-11647)
505	0		_aPreface -- Notation and Acronyms -- 1. Introduction -- 2. Identification of underactuated mechanical systems -- 3. Feedback linearization controller for arm trajectory tracking of the Furuta pendulum -- 4. Adaptive neural network controller for arm trajectory tracking of the Furuta pendulum -- 5. Feedback linearization controller for wheel trajectory tracking of the inertia wheel pendulum -- 6. Adaptive controllers for pendulum trajectory tracking of the inertia wheel pendulum -- Appendices -- References. .
520	3		_aThis volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines. .
988			_aEBSPRINGER_2018
650		7	_2embne _9138097 _aMáquinas
700	1		_aAguilar-Avelar, Carlos. _eautor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _0http://id.loc.gov/authorities/names/no2017126112 _1http://viaf.org/viaf/14150686592812542269/
776	0	8	_iEdición impresa: _z9783319583181
776	0	8	_iEdición impresa: _z9783319583204
776	0	8	_iEdición impresa: _z9783319863757
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-3-319-58319-8 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942			_2lcc _cLE