Ranjan Vepa,
Ranjan Vepa
Nonlinear Control of Robots and Unmanned Aerial Vehicles
An Integrated Approach
Gebonden Engels 2016 1e druk 9781498767040Levertijd ongeveer 11 werkdagen
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Samenvatting
Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.
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Inhoudsopgave
Lagrangian Methods for Robot Manipulators. Unmanned Aerial Vehicles (UAV) Dynamics & Lagrangian Methods. Feedback Linearisation & Decoupling. Linear and Phase Plane Analysis of Stability. Robot & UAV Control: An Overview. Stability. Lyapunov Stability. Computed Torque Control. Sliding Mode Control. Parameter Identification. Adaptive & Model Predictive Control. Lyapunov Design: The Back-stepping Approach. Hybrid Position & Force Control. UAV Control.
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