Lyapunov-Based Control of Robotic Systems

Computers & Technology

Dawson, Darren M.

Behal, Aman

Dixon, Warren

Xian, Bin

Computer Science

CRC-Press

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.

Lyapunov-Based Control of Robotic Systems (Automation and Control Engineering)

This practical yet rigorous book provides a development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.

Nonlinear Control of Engineering Systems: A Lyapunov-Based Approach (Control Engineering)

Nagarkatti, Siddharth P.

Dixon, Warren E. E.

Reference

Birkhauser

This book examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined utilizing Lyapunov techniques. The performance of each controller is either illustrated through simulation results or experimental results. The final chapter describes how the control techniques developed for wheeled mobile robots can be applied to solve other problems with similar governing differential equations (e.g., twin rotor helicopters, surface vessels). Several appendices are included to provide the reader with the mathematical background utilized in the control development and stability analysis. Two appendices are also included that provide specific details with regard to the modifications that were done to commercially available mobile robots (e.g., a K2A manufactured by Cybermotion Inc. and a Pioneer II manufactured by Activemedia) to experimentally demonstrate the performance of the torque input controllers.

Nonlinear Control of Wheeled Mobile Robots (Lecture Notes in Control and Information Sciences, 262)

Dixon, Warren E.

Zergeroglu, Erkan

Springer

See the best price to sell, buy, or rent books by Behal, Aman. BookScouter helps to compare book prices from 25+ online bookstores and 30+ buyback vendors with a single search.

Books by Behal, Aman