Robust Control Of Robots
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Robust Control Of Robots
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Author : Adriano A. G. Siqueira
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-08-14
Robust Control Of Robots written by Adriano A. G. Siqueira and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-08-14 with Technology & Engineering categories.
Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators; robust post-failure control of robotic manipulators; and robust control of cooperative robotic manipulators. In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors. The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.
Robust Control Systems
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Author : Uwe Mackenroth
language : en
Publisher: Springer Science & Business Media
Release Date : 2004-05-12
Robust Control Systems written by Uwe Mackenroth and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-05-12 with Mathematics categories.
Self-contained introduction to control theory that emphasizes on the most modern designs for high performance and robustness. It assumes no previous coursework and offers three chapters of key topics summarizing classical control. To provide readers with a deeper understanding of robust control theory than would be otherwise possible, the text incorporates mathematical derivations and proofs. Includes many elementary examples and advanced case studies using MATLAB Toolboxes.
Robot Manipulator Control
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Author : Frank L. Lewis
language : en
Publisher: CRC Press
Release Date : 2003-12-12
Robot Manipulator Control written by Frank L. Lewis and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-12-12 with Technology & Engineering categories.
Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.
Modelling And Control Of Robot Manipulators
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Author : Lorenzo Sciavicco
language : en
Publisher: Springer Science & Business Media
Release Date : 2001-02-19
Modelling And Control Of Robot Manipulators written by Lorenzo Sciavicco and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001-02-19 with Technology & Engineering categories.
Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Dynamics And Robust Control Of Robot Environment Interaction
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Author : Miomir Vukobratovic
language : en
Publisher: World Scientific
Release Date : 2009-03-06
Dynamics And Robust Control Of Robot Environment Interaction written by Miomir Vukobratovic and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-03-06 with Technology & Engineering categories.
This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.The ultimate aim is to strike a good balance between the necessary theoretical framework and practical aspects of interactive robots.
Recent Advances In Robust Control
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Author : Andreas Müller
language : en
Publisher: BoD – Books on Demand
Release Date : 2011-11-21
Recent Advances In Robust Control written by Andreas Müller and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-11-21 with Science categories.
Robust control has been a topic of active research in the last three decades culminating in H_2/H_\infty and \mu design methods followed by research on parametric robustness, initially motivated by Kharitonov's theorem, the extension to non-linear time delay systems, and other more recent methods. The two volumes of Recent Advances in Robust Control give a selective overview of recent theoretical developments and present selected application examples. The volumes comprise 39 contributions covering various theoretical aspects as well as different application areas. The first volume covers selected problems in the theory of robust control and its application to robotic and electromechanical systems. The second volume is dedicated to special topics in robust control and problem specific solutions. Recent Advances in Robust Control will be a valuable reference for those interested in the recent theoretical advances and for researchers working in the broad field of robotics and mechatronics.
Optimal And Robust Control
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Author : Luigi Fortuna
language : en
Publisher: CRC Press
Release Date : 2012-02-02
Optimal And Robust Control written by Luigi Fortuna and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-02-02 with Technology & Engineering categories.
While there are many books on advanced control for specialists, there are few that present these topics for nonspecialists. Assuming only a basic knowledge of automatic control and signals and systems, Optimal and Robust Control: Advanced Topics with MATLAB® offers a straightforward, self-contained handbook of advanced topics and tools in automatic control. Techniques for Controlling System Performance in the Presence of Uncertainty The book deals with advanced automatic control techniques, paying particular attention to robustness—the ability to guarantee stability in the presence of uncertainty. It explains advanced techniques for handling uncertainty and optimizing the control loop. It also details analytical strategies for obtaining reduced order models. The authors then propose using the Linear Matrix Inequalities (LMI) technique as a unifying tool to solve many types of advanced control problems. Topics covered include: LQR and H-infinity approaches Kalman and singular value decomposition Open-loop balancing and reduced order models Closed-loop balancing Passive systems and bounded-real systems Criteria for stability control This easy-to-read text presents the essential theoretical background and provides numerous examples and MATLAB exercises to help the reader efficiently acquire new skills. Written for electrical, electronic, computer science, space, and automation engineers interested in automatic control, this book can also be used for self-study or for a one-semester course in robust control.
Wheeled Mobile Robot Control
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Author : Nardênio Almeida Martins
language : en
Publisher: Springer Nature
Release Date : 2021-08-12
Wheeled Mobile Robot Control written by Nardênio Almeida Martins and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-08-12 with Technology & Engineering categories.
This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
Nonlinear Control Of Vehicles And Robots
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Author : Béla Lantos
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-12-01
Nonlinear Control Of Vehicles And Robots written by Béla Lantos and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-12-01 with Technology & Engineering categories.
Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.
Robust Tracking Control Of Robot Manipulators
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Author : Zhihua Qu
language : en
Publisher: Institute of Electrical & Electronics Engineers(IEEE)
Release Date : 1996
Robust Tracking Control Of Robot Manipulators written by Zhihua Qu and has been published by Institute of Electrical & Electronics Engineers(IEEE) this book supported file pdf, txt, epub, kindle and other format this book has been release on 1996 with Robots categories.
Bringing together the latest research in the field, Robust Tracking Control of Robot Manipulators is the first book to provide systematic methods for stabilizing unwanted flexible, uncertain, and unmodeled dynamics. The authors present a thorough comparison of state-of-the-art and classical designs of all controls: linear or nonlinear (simple or complicated), conventional or robust, adaptive or learning. Focusing on control design and performance analysis, this book will help you to apply advanced controls effectively and to establish equivalent and different robustness. This book will be invaluable as a guide to researchers and practicing engineers in the field of robot control, automation, and robotic engineering. It will also serve as a useful reference for control of robot manipulators and mechanical-electrical systems.