Virtual Decomposition Control
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Virtual Decomposition Control
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Author : Wen-Hong Zhu
language : en
Publisher: Springer
Release Date : 2010-04-06
Virtual Decomposition Control written by Wen-Hong Zhu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-04-06 with Technology & Engineering categories.
Driven by the need to achieve superior control performances for robots with hyper degrees of freedom, the virtual decomposition control approach is thoroughly presented in this book. This approach uses subsystem (such as links and joints of a complex robot) dynamics to conduct control design, while guaranteeing the stability and convergence of the entire complex robot without compromising the rigorousness of the system analysis. The central concept of this approach is the definition of the virtual stability. The stability of the entire complex robot is mathematically equivalent to the virtual stability of every subsystem. This fact allows us to convert a large problem to a few simple problems with mathematical certainty. This book comprises fourteen chapters. The first five chapters form the foundation of this approach. The remaining nine chapters are relatively independent. Starting from Chapter 6, each chapter deals with a particular type of systems including motor/transmission assemblies, hydraulic robots, coordinated multiple robots, space robots, humanoid robots, adaptive teleoperation, and modular robot manipulators. At the end, the extensions of this approach to distributed-parameter systems and to electrical circuits are given, paving the way for other applications to follow. This book is intended for practitioners, researchers, and graduate students who have acquired fundamental knowledge on robotics and control systems and have been committed to achieving the best control performances on complex robotics systems and beyond.
Virtual Decomposition Control
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Author : Wen-Hong Zhu
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-03-29
Virtual Decomposition Control written by Wen-Hong Zhu 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 2010-03-29 with Technology & Engineering categories.
Driven by the need to achieve superior control performances for robots with hyper degrees of freedom, the virtual decomposition control approach is thoroughly presented in this book. This approach uses subsystem (such as links and joints of a complex robot) dynamics to conduct control design, while guaranteeing the stability and convergence of the entire complex robot without compromising the rigorousness of the system analysis. The central concept of this approach is the definition of the virtual stability. The stability of the entire complex robot is mathematically equivalent to the virtual stability of every subsystem. This fact allows us to convert a large problem to a few simple problems with mathematical certainty. This book comprises fourteen chapters. The first five chapters form the foundation of this approach. The remaining nine chapters are relatively independent. Starting from Chapter 6, each chapter deals with a particular type of systems including motor/transmission assemblies, hydraulic robots, coordinated multiple robots, space robots, humanoid robots, adaptive teleoperation, and modular robot manipulators. At the end, the extensions of this approach to distributed-parameter systems and to electrical circuits are given, paving the way for other applications to follow. This book is intended for practitioners, researchers, and graduate students who have acquired fundamental knowledge on robotics and control systems and have been committed to achieving the best control performances on complex robotics systems and beyond.
Control Theory Stochastic Analysis And Applications Proceedings Of Symposium On System Sciences And Control Theory
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Author : S P Chen
language : en
Publisher: World Scientific
Release Date : 1992-03-27
Control Theory Stochastic Analysis And Applications Proceedings Of Symposium On System Sciences And Control Theory written by S P Chen and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1992-03-27 with categories.
The symposium discusses and explores the current and future development of some aspects of the theory of nonlinear control systems, adaptive control and filtering, robust control and H∞ optimization, stochastic systems and white noise analysis, etc.
Nonlinear Control Systems Design 1989
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Author : A. Isidori
language : en
Publisher: Elsevier
Release Date : 2014-05-23
Nonlinear Control Systems Design 1989 written by A. Isidori and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-05-23 with Technology & Engineering categories.
In the last two decades, the development of specific methodologies for the control of systems described by nonlinear mathematical models has attracted an ever increasing interest. New breakthroughs have occurred which have aided the design of nonlinear control systems. However there are still limitations which must be understood, some of which were addressed at the IFAC Symposium in Capri. The emphasis was on the methodological developments, although a number of the papers were concerned with the presentation of applications of nonlinear design philosophies to actual control problems in chemical, electrical and mechanical engineering.
Underwater Robots
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Author : Gianluca Antonelli
language : en
Publisher: Springer
Release Date : 2018-04-05
Underwater Robots written by Gianluca Antonelli and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-04-05 with Technology & Engineering categories.
A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.
Optimal Control And Partial Differential Equations
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Author : José Luis Menaldi
language : en
Publisher: IOS Press
Release Date : 2001
Optimal Control And Partial Differential Equations written by José Luis Menaldi and has been published by IOS Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001 with Mathematics categories.
This volume contains more than sixty invited papers of international wellknown scientists in the fields where Alain Bensoussan's contributions have been particularly important: filtering and control of stochastic systems, variationnal problems, applications to economy and finance, numerical analysis... In particular, the extended texts of the lectures of Professors Jens Frehse, Hitashi Ishii, Jacques-Louis Lions, Sanjoy Mitter, Umberto Mosco, Bernt Oksendal, George Papanicolaou, A. Shiryaev, given in the Conference held in Paris on December 4th, 2000 in honor of Professor Alain Bensoussan are included.
Microgrid Protection And Control
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Author : Dehua Zheng
language : en
Publisher: Academic Press
Release Date : 2021-06-23
Microgrid Protection And Control written by Dehua Zheng and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-06-23 with Technology & Engineering categories.
Microgrid Protection and Control is the result of numerous research works and publications by R&D engineers and scientists of the Microgrid and Energy Internet Research Centre. Through the authors long-routed experience in the microgrid and energy internet industry, this book looks at the sophisticated protection and control issues connected to the special nature of microgrid. The book explains the different ways of classifying types of microgrids and common misconceptions, looking at industrial and research trends along with the different technical issues and challenges faced with deploying microgrid in various settings. Forecasting short-term demand and renewable generation for optimal operation is covered with techniques for accurate enhancement supported with practical application examples. With chapters on dynamic, transient and tertiary control and experimental and simulation tests this reference is useful for all those working in the research, engineering and application of microgrids and power distribution systems. - Contains practical examples to support the research and experimental results on microgrid protection and control - Includes detailed theories and referential algorithms - Provides innovative solutions to technical issues in protection and control of microgrids
Intelligent Robotics And Applications
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Author : Haibin Yu
language : en
Publisher: Springer
Release Date : 2019-08-05
Intelligent Robotics And Applications written by Haibin Yu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-08-05 with Computers categories.
The volume set LNAI 11740 until LNAI 11745 constitutes the proceedings of the 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, held in Shenyang, China, in August 2019. The total of 378 full and 25 short papers presented in these proceedings was carefully reviewed and selected from 522 submissions. The papers are organized in topical sections as follows: Part I: collective and social robots; human biomechanics and human-centered robotics; robotics for cell manipulation and characterization; field robots; compliant mechanisms; robotic grasping and manipulation with incomplete information and strong disturbance; human-centered robotics; development of high-performance joint drive for robots; modular robots and other mechatronic systems; compliant manipulation learning and control for lightweight robot. Part II: power-assisted system and control; bio-inspired wall climbing robot; underwater acoustic and optical signal processing for environmental cognition; piezoelectric actuators and micro-nano manipulations; robot vision and scene understanding; visual and motional learning in robotics; signal processing and underwater bionic robots; soft locomotion robot; teleoperation robot; autonomous control of unmanned aircraft systems. Part III: marine bio-inspired robotics and soft robotics: materials, mechanisms, modelling, and control; robot intelligence technologies and system integration; continuum mechanisms and robots; unmanned underwater vehicles; intelligent robots for environment detection or fine manipulation; parallel robotics; human-robot collaboration; swarm intelligence and multi-robot cooperation; adaptive and learning control system; wearable and assistive devices and robots for healthcare; nonlinear systems and control. Part IV: swarm intelligence unmanned system; computational intelligence inspired robot navigation and SLAM; fuzzy modelling for automation, control, and robotics; development of ultra-thin-film, flexible sensors, and tactile sensation; robotic technology for deep space exploration; wearable sensing based limb motor function rehabilitation; pattern recognition and machine learning; navigation/localization. Part V: robot legged locomotion; advanced measurement and machine vision system; man-machine interactions; fault detection, testing and diagnosis; estimation and identification; mobile robots and intelligent autonomous systems; robotic vision, recognition and reconstruction; robot mechanism and design. Part VI: robot motion analysis and planning; robot design, development and control; medical robot; robot intelligence, learning and linguistics; motion control; computer integrated manufacturing; robot cooperation; virtual and augmented reality; education in mechatronics engineering; robotic drilling and sampling technology; automotive systems; mechatronics in energy systems; human-robot interaction.
Proceedings Of 2024 Chinese Intelligent Systems Conference
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Author : Yingmin Jia
language : en
Publisher: Springer Nature
Release Date : 2024-10-24
Proceedings Of 2024 Chinese Intelligent Systems Conference written by Yingmin Jia and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-24 with Computers categories.
This book constitutes the proceedings of the 20th Chinese Intelligent Systems Conference, CISC 2024, which was held on October 26–27, 2024, in Guilin, Guangxi, China. The book focuses on new theoretical results and techniques in the field of intelligent systems and control. This is achieved by providing in-depth studies of a number of important topics such as multi-agent systems, complex networks, intelligent robots, complex systems theory and swarm behaviour, event-driven and data-driven control, robust and adaptive control, big data and brain science, process control, intelligent sensors and detection technology, deep learning and learning control, navigation and control of flying vehicles, and so on. The book is particularly suitable for readers interested in learning intelligent systems and control and artificial intelligence. The book can benefit researchers, engineers and graduate students.
Adaptive Control Of Underactuated Mechanical Systems
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Author : An-chyau Huang
language : en
Publisher: World Scientific
Release Date : 2015-01-29
Adaptive Control Of Underactuated Mechanical Systems written by An-chyau Huang and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-01-29 with Technology & Engineering categories.
In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems.