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BL
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| Record Number
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865519
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| Main Entry
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Rigatos, Gerasimos G.,1971-
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| Title & Author
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Robotic manipulators and vehicles : : control, estimation and filtering /\ Gerasimos Rigatos, Krishna Busawon.
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| Publication Statement
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Cham, Switzerland :: Springer,, 2018.
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| Series Statement
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Studies in systems, decision and control,; volume 152
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| Page. NO
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1 online resource (xxxiv, 734 pages)
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| ISBN
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331977851X
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: 9783319778518
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3319778501
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9783319778501
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| Bibliographies/Indexes
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Includes bibliographical references and index.
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| Contents
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Intro; Foreword; Preface; Acknowledgements; Contents; Abbreviations; 1 Rigid-Link Manipulators: Model-Based Control; 1.1 Chapter Overview; 1.2 Kinematics and Dynamics of Rigid-Link Multi-DOF Manipulators; 1.2.1 Outline; 1.2.2 Dynamic Analysis of Rigid Link Robots; 1.2.3 Kinematic Analysis of Rigid Link Robots; 1.3 Model-Based Control of Rigid-Link Manipulators ... ; 1.3.1 Outline; 1.3.2 Differential Flatness Theory; 1.3.3 Differential Flatness for MIMO Nonlinear Dynamical Systems; 1.3.4 Global Linearization of a 2-DOF Robotic Manipulator; 1.3.5 Simulation Tests
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1.4 Model-Based Control of Rigid-Link Manipulators ... 1.4.1 Outline; 1.4.2 Dynamic Model of the Multi-DOF Robotic System; 1.4.3 Approximate Linearization of the Robot's Dynamics; 1.4.4 Design of an H-Infinity Nonlinear Feedback Controller; 1.4.5 Computation of the Feedback Control Gains for the Approximately Linearized Robot; 1.4.6 Riccati Equation Coefficients in Controller's Robustness; 1.4.7 Lyapunov Stability Analysis; 1.4.8 Simulation Tests; 1.5 Model-Based Control of Rigid-Link Manipulators Under Time-Delays; 1.5.1 Outline; 1.5.2 State-Space Description of the Robotic Manipulator
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1.5.3 Control of the Robotic Manipulator Under Known Time Delays1.5.4 Differential Flatness of the Robot's Model; 1.5.5 Control of the Robot Under Unknown Time Delays; 1.5.6 Simulation Tests; 2 Underactuated Robotic Manipulators; 2.1 Chapter Overview; 2.2 Nonlinear Optimal Control for Multi-DOF Underactuated Overhead Cranes; 2.2.1 Outline; 2.2.2 Dynamic Model of the Crane; 2.2.3 Approximate Linearization of the Crane's Model; 2.2.4 Design of an H-Infinity Nonlinear Feedback Controller; 2.2.5 Lyapunov Stability Analysis
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2.2.6 Robust State Estimation with the Use of the H-Infinity Kalman Filter2.2.7 Simulation Tests; 2.3 A Nonlinear Optimal Control Approach for Precise Functioning ... ; 2.3.1 Outline; 2.3.2 Dynamic Model of the Payload's Positioning System; 2.3.3 Approximate Linearization of the Payload's Positioning System; 2.3.4 Design of an H-Infinity Nonlinear Feedback Controller; 2.3.5 The Nonlinear H-Infinity Control; 2.3.6 Lyapunov Stability Analysis; 2.3.7 Robust State Estimation with the Use of the Hinfty Kalman Filter; 2.3.8 Simulation Tests; 2.4 Nonlinear H-Infinity Control for Underactuated ...
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2.4.1 Outline2.4.2 Dynamic Model of Furuta's Penulum; 2.4.3 Design of an H-Infinity Nonlinear Feedback Controller; 2.4.4 Lyapunov Stability Analysis; 2.4.5 Robust State Estimation with the Use of the H-Infinity Kalman Filter; 2.4.6 Simulation Tests; 2.5 A Nonlinear Optimal Control Approach ... ; 2.5.1 Outline; 2.5.2 Dynamic Model of the Cart and Double-Pendulum System; 2.5.3 Approximate Linearization of the Cart and Double-Pendulum System; 2.5.4 Design of an H-Infinity Nonlinear Feedback Controller; 2.5.5 Lyapunov Stability Analysis
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| Abstract
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This monograph addresses problems of: " nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and " nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.
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| Subject
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Automated vehicles.
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Manipulators (Mechanism)
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Nonlinear control theory.
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Robots-- Control systems.
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Artificial intelligence.
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Automated vehicles.
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Automatic control engineering.
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Automotive technology trades.
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Cybernetics systems theory.
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Manipulators (Mechanism)
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Nonlinear control theory.
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Robotics.
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Robots-- Control systems.
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| Subject
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TECHNOLOGY ENGINEERING-- Engineering (General)
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| Dewey Classification
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629.8/36
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| LC Classification
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QA402.35
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| Added Entry
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Busawon, Krishna
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