Dynamics of underactuated multibody systems. Modeling, control and optimal design (Q362348)

This is a compact monograph on underactuated multibody systems. ``Underactuated'' refers to systems with more degrees of freedom than there are actuators, or controls. Such systems can occur when one or more of the actuator controls, of a fully actuated system, becomes passive, or inoperable. Perhaps a more common underactuated system is one with flexible members, where then the number of degrees of freedom is infinite whereas the number of actuators is finite. The author discusses all aspects of these systems, ranging from derivation of the governing equations of motion to system control and to optimal system design. The author develops these somewhat diverse subjects from the perspective of multibody systems dynamics. The book itself contains six major chapters together with a pair of brief introductory and conclusion chapters (Chapter 1 and 8). In the second chapter, the author presents the governing equations for rigid and flexible multibody systems. The third chapter discusses linearization and inversion procedures. Chapter 4 presents a detailed analysis of trajectory tracking of multibody systems in general, and then with flexible systems in particular (in Chapter 6). Sandwiched between these two tracking chapters is a chapter on model inversion using servo constraints. In the final major chapter, the author discusses optimal system design. The book is well written with well-prepared figures and excellent editing. Unfortunately, the breadth and depth of the subject matter makes reading the text difficult, except for those somewhat already familiar and comfortable with the topics. That being said, the book is likely to be a very useful reference for those theoreticians, students, and practitioners working in one of the many areas discussed.