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About this product
- DescriptionLyapuv-Based Control of Robotic Systems describes nlinear 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 nlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapuv'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 Lyapuv-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 Lyapuv-based control design techniques to up-and-coming problems in robotics.
- Author BiographyAman 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.
- Author(s)Aman Behal,Bin Xian,Darren M. Dawson,Warren Dixon
- PublisherTaylor & Francis Inc
- Date of Publication13/03/2009
- SubjectElectronics Engineering & Communications Engineering
- Series TitleAutomation and Control Engineering
- Series Part/Volume Numberv. 36
- Place of PublicationBosa Roca
- Country of PublicationUnited States
- ImprintCRC Press Inc
- Content Note141 black & white illustrations, 5 black & white tables
- Weight657 g
- Width156 mm
- Height235 mm
- Spine25 mm
- Series Edited byFrank L. Lewis
- Format DetailsUnsewn / adhesive bound
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