Lyapunov-Based Control of Robotic Systems

Aman Behal

ISBN 10: 0367452421 / ISBN 13: 9780367452421

Published by CRC Press, 2019

About this Item

nach der Bestellung gedruckt Neuware - Printed after ordering - This work describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. The authors use Lyapunov's direct method as an effective tool to design and analyze controllers for robotic systems and include numerous examples that illustrate how this method addresses advanced robotics research problems. After providing a historical perspective of robotics and a review of standard robot control approaches, the book presents real-time computing and experimental test beds for implementing developed controllers. It also explores sensor-based feedback path planning, navigation, and control.

Seller Inventory # 9780367452421

Bibliographic Details

• Title: Lyapunov-Based Control of Robotic Systems
• Publisher: CRC Press
• Publication Date: 2019
• Language: English
• ISBN 10: 0367452421
• ISBN 13: 9780367452421
• Binding: Taschenbuch
• Condition: Neu
• Dimensions: 234W x 156H x 21D millimeters 234 millimeters width by 156 millimeters height by 21 millimeters depth
• Weight: 591 grams

About this title

Synopsis

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.

About the Author

Aman Behal is an assistant professor in the School of Electrical Engineering and Computer Science and the NanoScience Technology Center at the University of Central Florida.

Warren Dixon is an associate professor and director of the Nonlinear Controls and Robotics group in the Department of Mechanical and Aerospace Engineering at the University of Florida.

Darren M. Dawson is McQueen Quattlebaum Professor and chair of the Holcombe Department of Electrical and Computer Engineering at Clemson University.

Bin Xian is a professor in the School of Electrical Engineering and Automation at Tianjin University.