عنوان

Robotic manipulators and vehicles :

331977851X

9783319778518

3319778501

9783319778501

Robotic manipulators and vehicles :

[Book]

control, estimation and filtering /

Gerasimos Rigatos, Krishna Busawon.

Cham, Switzerland :

Springer,

2018.

1 online resource (xxxiv, 734 pages)

Studies in systems, decision and control,

volume 152

2198-4182 ;

Includes bibliographical references and index.

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

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

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

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 ...

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

0

8

8

8

8

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.

Springer Nature

com.springer.onix.9783319778518

Robotic manipulators and vehicles.

9783319778501

Automated vehicles.

Manipulators (Mechanism)

Nonlinear control theory.

Robots-- Control systems.

Artificial intelligence.

Automated vehicles.

Automatic control engineering.

Automotive technology & trades.

Cybernetics & systems theory.

Manipulators (Mechanism)

Nonlinear control theory.

Robotics.

Robots-- Control systems.

TECHNOLOGY & ENGINEERING-- Engineering (General)

TEC-- 009000

TJFM

Rigatos, Gerasimos G.,1971-

Busawon, Krishna

20200823112630.0

pn

[Book]

Y