Lyapunov-Based Control of Robotic Systems

- Behal, A: Lyapunov-Based Control of Robotic Systems

af

indgår i serie Automation and Control Engineering


Lyapunov-Based Control of Robotic Systems
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Format:
Bog, hardback
Udgivelsesdato:
13-03-2009
Sprog:
Engelsk
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Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov's direct method as an effective tool to design and analyze controllers for robotic systems.After describing the evolution of real-time control design systems and the associated operating environments and hardware platforms, the book presents a host of standard control design tools for robotic systems using a common Lyapunov-based framework. It then discusses several problems in visual servoing control, including the design of homography-based visual servo control methods and the classic structure from motion problem. The book also deals with the issues of path planning and control for manipulator arms and wheeled mobile robots. With a focus on the emerging research area of human machine interaction, the final chapter illustrates the design of control schemes based on passivity such that the machine is a net energy sink.Including much of the authors' own research work in controls and robotics, this book facilitates an understanding of the application of Lyapunov-based control design techniques to up-and-coming problems in robotics.

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Udgivelsesdato:
13-03-2009
ISBN13:
9780849370250
Vægt:
658 g
Dybde:
25 mm
Bredde:
156 mm
Højde:
235 mm
Nummer i serien:
v. 36
Format:
Hardback
Bibliotekernes beskrivelse Describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Providing a historical perspective of robotics and a review of standard robot control approaches, this book presents real-time computing and experimental test beds for implementing developed controllers. 5 Tables, black and white; 141 Illustrations, black and white

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