Lyapunov-Based Control of Robotic Systems (Automation and Control Engineering)

Lyapunov-Based Control of Robotic Systems (Automation and Control Engineering)

Aman Behal

Lyapunov-Based regulate of robot Systems describes nonlinear keep an eye on layout suggestions for difficulties that come up from robots required to have interaction with and manage their environments. because so much sensible eventualities require the layout of nonlinear controllers to paintings round uncertainty and measurement-related matters, the authors use Lyapunov’s direct process as an efficient instrument to layout and examine controllers for robot systems.

After describing the evolution of real-time regulate layout platforms and the linked working environments and structures, the ebook offers a bunch of ordinary keep watch over layout instruments for robot structures utilizing a typical Lyapunov-based framework. It then discusses a number of difficulties in visible servoing regulate, together with the layout of homography-based visible servo keep an eye on tools and the vintage constitution from movement challenge. The ebook additionally offers with the problems of course making plans and keep watch over for manipulator palms and wheeled cellular robots. With a spotlight at the rising study quarter of human laptop interplay, the ultimate bankruptcy illustrates the layout of keep watch over schemes in line with passivity such that the laptop is a web power sink.

Including a lot of the authors’ personal study paintings in controls and robotics, this ebook enables an knowing of the applying of Lyapunov-based keep an eye on layout ideas to up-and-coming difficulties in robotics.

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