Passivity Based Control And Estimation In Networked Robotics
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Passivity Based Control And Estimation In Networked Robotics
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Author : Takeshi Hatanaka
language : en
Publisher: Springer
Release Date : 2015-04-10
Passivity Based Control And Estimation In Networked Robotics written by Takeshi Hatanaka and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-04-10 with Technology & Engineering categories.
Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques, the authors provide experimental case studies on testbeds of robotic systems including networked haptic devices, visual robotic systems, robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity’s usefulness for visual feedback control and estimation. Convergence is rigorously proved even when other passive components are interconnected. The passivity approach is also differentiated from other methodologies. The third part presents the unified passivity-based control-design methodology for multi-agent systems. This scheme is shown to be either immediately applicable or easily extendable to the solution of various motion coordination problems including 3-D attitude/pose synchronization, flocking control and cooperative motion estimation. Academic researchers and practitioners working in systems and control and/or robotics will appreciate the potential of the elegant and novel approach to the control of networked robots presented here. The limited background required and the case-study work described also make the text appropriate for and, it is hoped, inspiring to students.
Network Optimization Methods In Passivity Based Cooperative Control
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Author : Miel Sharf
language : en
Publisher: Springer Nature
Release Date : 2021-05-24
Network Optimization Methods In Passivity Based Cooperative Control written by Miel Sharf and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-05-24 with Technology & Engineering categories.
This book establishes an important mathematical connection between cooperative control problems and network optimization problems. It shows that many cooperative control problems can in fact be understood, under certain passivity assumptions, using a pair of static network optimization problems. Merging notions from passivity theory and network optimization, it describes a novel network optimization approach that can be applied to the synthesis of controllers for diffusively-coupled networks of passive (or passivity-short) dynamical systems. It also introduces a data-based, model-free approach for the synthesis of network controllers for multi-agent systems with passivity-short agents. Further, the book describes a method for monitoring link faults in multi-agent systems using passivity theory and graph connectivity. It reports on some practical case studies describing the effectivity of the developed approaches in vehicle networks. All in all, this book offers an extensive source of information and novel methods in the emerging field of multi-agent cooperative control, paving the way to future developments of autonomous systems for various application domains
Secure Coordination Control Of Networked Robotic Systems
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Author : Xiaolei Li
language : en
Publisher: Springer Nature
Release Date :
Secure Coordination Control Of Networked Robotic Systems written by Xiaolei Li and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on with categories.
Dissipative Systems Analysis And Control
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Author : Bernard Brogliato
language : en
Publisher: Springer
Release Date : 2019-07-03
Dissipative Systems Analysis And Control written by Bernard Brogliato and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-07-03 with Technology & Engineering categories.
This second edition of Dissipative Systems Analysis and Control has been substantially reorganized to accommodate new material and enhance its pedagogical features. It examines linear and nonlinear systems with examples of both in each chapter. Also included are some infinite-dimensional and nonsmooth examples. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable feedback control laws.
Economically Enabled Energy Management
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Author : Takeshi Hatanaka
language : en
Publisher: Springer Nature
Release Date : 2020-04-21
Economically Enabled Energy Management written by Takeshi Hatanaka and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-04-21 with Business & Economics categories.
This book gathers contributions from a multidisciplinary research team comprised of control engineering and economics researchers and formed to address a central interdisciplinary social issue, namely economically enabled energy management. The book’s primary focus is on achieving optimal energy management that is viable from both an engineering and economic standpoint. In addition to the theoretical results and techniques presented, several chapters highlight experimental case studies, which will benefit academic researchers and practitioners alike. The first three chapters present comprehensive overviews of respective social contexts, underscore the pressing need for economically efficient energy management systems and academic work on this emerging research topic, and identify fundamental differences between approaches in control engineering and economics. In turn, the next three chapters (Chapters 4–6) provide economics-oriented approaches to the subject. The following five chapters (Chapters 7–11) address optimal energy market design, integrating both physical and economic models. The book’s last three chapters (Chapters 12–14) mainly focus on the engineering aspects of next-generation energy management, though economic factors are also shown to play important roles.
Synchronization Of Multi Agent Systems In The Presence Of Disturbances And Delays
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Author : Ali Saberi
language : en
Publisher: Springer Nature
Release Date : 2022-01-18
Synchronization Of Multi Agent Systems In The Presence Of Disturbances And Delays written by Ali Saberi and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-01-18 with Science categories.
This monograph explores the synchronization of large-scale, multi-agent dynamical systems in the presence of disturbances, delays, and time-varying networks. Drawing upon their extensive work in this area, the authors provide a thorough treatment of agents with higher-order dynamics, different classes of models for agents, and the underlying networks representing the agents’ actions. The high technical level of their presentation and their rigorous mathematical approach make this a timely and valuable resource that will fill a gap in the existing literature. Divided into two sections, the first part of the book focuses on state synchronization of homogeneous multi-agent systems. The authors consider state synchronization by determining control strategies for both continuous- and discrete-time systems that achieve state synchronization under both full- and partial-state coupling. The chapters that follow examine multi-agent systems with both linear and nonlinear time-varying agents, input-delays for continuous- and discrete-time systems, and communication delays for continuous-time systems. The second part of the book is dedicated to regulated output synchronization of heterogeneous multi-agent systems with linear and nonlinear agents. Both sections of the book include performance considerations in H2- and H-infinity norms in the presence of external disturbances. Research on synchronization of multi-agent systems has been growing in popularity and is highly interdisciplinary, with applications to automobile systems, aerospace systems, multiple-satellite GPS and high-resolution satellite imagery, aircraft formations, highway traffic platooning, industrial process control with multiple processes, and more. Synchronization of Multi-Agent Systems in the Presence of Disturbances and Delays will therefore be of interest to upper-level graduate students, researchers, and engineers in industry working on interconnected dynamical systems.
Distributed Coordination Theory For Robot Teams
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Author : Ashton Roza
language : en
Publisher: Springer Nature
Release Date : 2022-05-15
Distributed Coordination Theory For Robot Teams written by Ashton Roza and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-05-15 with Technology & Engineering categories.
Distributed Coordination Theory for Robot Teams develops control algorithms to coordinate the motion of autonomous teams of robots in order to achieve some desired collective goal. It provides novel solutions to foundational coordination problems, including distributed algorithms to make quadrotor helicopters rendezvous and to make ground vehicles move in formation along circles or straight lines. The majority of the algorithms presented in this book can be implemented using on-board cameras. The book begins with an introduction to coordination problems, such as rendezvous of flying robots, and modelling. It then provides a solid theoretical background in basic stability, graph theory and control primitives. The book discusses the algorithmic solutions for numerous distributed control problems, focusing primarily on flying robotics and kinematic unicycles. Finally, the book looks to the future, and suggests areas discussed which could be pursued in further research. This book will provide practitioners, researchers and students in the field of control and robotics new insights in distributed multi-agent systems.
Modeled Tested Trusted
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Author : Joost-Pieter Katoen
language : en
Publisher: Springer
Release Date : 2017-10-16
Modeled Tested Trusted written by Joost-Pieter Katoen and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-10-16 with Computers categories.
This Festschrift volume has been published in honor of Ed Brinksma, on the occasion of his 60th birthday. The contributions in this Festschrift are written by a number of Ed's former Ph.D. students and collaborators. The papers are a reflection on his research contributions and interests and all fall into the area of formal methods, or in Ed's terminology applied mathematics in computer science. The papers address modeling languages and semantics, model-based testing, verification and performance analysis, probabilistic computation, system dynamics, and applications of formal methods.
Lyapunov Based Control Of Robotic Systems
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Author : Aman Behal
language : en
Publisher: CRC Press
Release Date : 2009-12-17
Lyapunov Based Control Of Robotic Systems written by Aman Behal and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-12-17 with Technology & Engineering categories.
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.
Cyber Physical Human Systems
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Author : Anuradha M. Annaswamy
language : en
Publisher: John Wiley & Sons
Release Date : 2023-06-08
Cyber Physical Human Systems written by Anuradha M. Annaswamy and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-06-08 with Computers categories.
Cyber–Physical–Human Systems A comprehensive edited volume exploring the latest in the interactions between cyber–physical systems and humans In Cyber–Physical–Human Systems: Fundamentals and Applications, a team of distinguished researchers delivers a robust and up-to-date volume of contributions from leading researchers on Cyber–Physical–Human Systems, an emerging class of systems with increased interactions between cyber–physical, and human systems communicating with each other at various levels across space and time, so as to achieve desired performance related to human welfare, efficiency, and sustainability. The editors have focused on papers that address the power of emerging CPHS disciplines, all of which feature humans as an active component during cyber and physical interactions. Articles that span fundamental concepts and methods to various applications in engineering sectors of transportation, robotics, and healthcare and general socio-technical systems such as smart cities are featured. Together, these articles address challenges and opportunities that arise due to the emerging interactions between cyber–physical systems and humans, allowing readers to appreciate the intersection of cyber–physical system research and human behavior in large-scale systems. In the book, readers will also find: A thorough introduction to the fundamentals of cyber–physical–human systems In-depth discussions of cyber–physical–human systems with applications in transportation, robotics, and healthcare A comprehensive treatment of socio-technical systems, including social networks and smart cities Perfect for cyber–physical systems researchers, academics, and graduate students, Cyber–Physical–Human Systems: Fundamentals and Applications will also earn a place in the libraries of research and development professionals working in industry and government agencies.