Lyapunov-Based Control of Robotic Systems, Behal, Aman
Автор: Yinyan Zhang; Shuai Li; Xuefeng Zhou Название: Deep Reinforcement Learning with Guaranteed Performance ISBN: 3030333833 ISBN-13(EAN): 9783030333836 Издательство: Springer Рейтинг: Цена: 121110.00 T Наличие на складе: Есть у поставщика Поставка под заказ. Описание: This book discusses methods and algorithms for the near-optimal adaptive control of nonlinear systems, including the corresponding theoretical analysis and simulative examples, and presents two innovative methods for the redundancy resolution of redundant manipulators with consideration of parameter uncertainty and periodic disturbances.It also reports on a series of systematic investigations on a near-optimal adaptive control method based on the Taylor expansion, neural networks, estimator design approaches, and the idea of sliding mode control, focusing on the tracking control problem of nonlinear systems under different scenarios. The book culminates with a presentation of two new redundancy resolution methods; one addresses adaptive kinematic control of redundant manipulators, and the other centers on the effect of periodic input disturbance on redundancy resolution.Each self-contained chapter is clearly written, making the book accessible to graduate students as well as academic and industrial researchers in the fields of adaptive and optimal control, robotics, and dynamic neural networks.
Автор: Behal, Aman , Dixon, Warren , Dawson, Darren M. Название: Lyapunov-Based Control of Robotic Systems ISBN: 0367452421 ISBN-13(EAN): 9780367452421 Издательство: Taylor&Francis Рейтинг: Цена: 67360.00 T Наличие на складе: Есть у поставщика Поставка под заказ. Описание:
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.
Автор: Yinyan Zhang; Shuai Li; Xuefeng Zhou Название: Deep Reinforcement Learning with Guaranteed Performance ISBN: 3030333868 ISBN-13(EAN): 9783030333867 Издательство: Springer Рейтинг: Цена: 121110.00 T Наличие на складе: Поставка под заказ. Описание: This book is devoted to the description of the most widely used classifications of the most frequent fractures in clinical practice. For each type of fracture one or several classifications are described.This edition will include new classifications and classifications that have gained popularity in the last 3 years, resulting in 25% new material.
Автор: Warren E. Dixon; Aman Behal; Darren M. Dawson; Sid Название: Nonlinear Control of Engineering Systems ISBN: 1461265819 ISBN-13(EAN): 9781461265818 Издательство: Springer Рейтинг: Цена: 93160.00 T Наличие на складе: Есть у поставщика Поставка под заказ. Описание: 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.
Автор: Franco Garofalo; Luigi Glielmo Название: Robust Control via Variable Structure and Lyapunov Techniques ISBN: 3540760679 ISBN-13(EAN): 9783540760672 Издательство: Springer Рейтинг: Цена: 113190.00 T Наличие на складе: Есть у поставщика Поставка под заказ. Описание: This text covers a large spectrum of recent research and innovative ideas in the field of robust control research employing the variable structure control method and Lyapunov`s second method. The book surveys control Lyapunov functions and introduces the geometric theory of "flat" systems.
Автор: Christopher D. Rahn Название: Mechatronic Control of Distributed Noise and Vibration ISBN: 3642075363 ISBN-13(EAN): 9783642075360 Издательство: Springer Рейтинг: Цена: 113180.00 T Наличие на складе: Есть у поставщика Поставка под заказ. Описание: Vibration and noise reduce the perceived quality, productivity, and efficiency of many and limit production speeds electromechanical systems.
Автор: Yury V. Orlov Название: Discontinuous Systems ISBN: 1849968098 ISBN-13(EAN): 9781849968096 Издательство: Springer Рейтинг: Цена: 139310.00 T Наличие на складе: Есть у поставщика Поставка под заказ. Описание: This book devoted to the theory of discontinuous dynamic systems requires no background in the field. It develops nonsmooth stability analysis and discontinuous control synthesis based on novel modeling of discontinuous dynamic systems.
Автор: Rush D. Robinett III; David G. Wilson Название: Nonlinear Power Flow Control Design ISBN: 1447171446 ISBN-13(EAN): 9781447171447 Издательство: Springer Рейтинг: Цена: 121890.00 T Наличие на складе: Есть у поставщика Поставка под заказ. Описание: Nonlinear Powerflow Control Design presents an innovative control system design process. The text compares the value of different energy resources, presents a new tool for power flow control, and examines the human factors involved with selling power into a distributed, decentralized electric power grid.
Автор: Alan S.I. Zinober Название: Variable Structure and Lyapunov Control ISBN: 3540198695 ISBN-13(EAN): 9783540198697 Издательство: Springer Рейтинг: Цена: 104480.00 T Наличие на складе: Есть у поставщика Поставка под заказ. Описание: An examination of solutions to the problem of the robust control of uncertain systems, using the variable structure control and Lyapunov control techniques. The areas of application discussed include electric motor drives, robotics, flight control and aerospace systems.
Автор: Michael Malisoff; Fr?d?ric Mazenc Название: Constructions of Strict Lyapunov Functions ISBN: 1447157826 ISBN-13(EAN): 9781447157823 Издательство: Springer Рейтинг: Цена: 139310.00 T Наличие на складе: Есть у поставщика Поставка под заказ. Описание: This construction of strict Lyapunov functions is an ongoing engineering challenge. This book contains a broad repertoire of Lyapunov constructions for nonlinear systems, focusing on methods for transforming non-strict Lyapunov functions into strict ones.
Автор: Yury Orlov Название: Nonsmooth Lyapunov Analysis in Finite and Infinite Dimensions ISBN: 3030376249 ISBN-13(EAN): 9783030376246 Издательство: Springer Рейтинг: Цена: 139750.00 T Наличие на складе: Поставка под заказ. Описание: Nonsmooth Lyapunov Analysis in Finite and Infinite Dimensions provides helpful tools for the treatment of a broad class of dynamical systems that are governed, not only by ordinary differential equations but also by partial and functional differential equations.
Автор: Carlos C. Insaurralde Название: Intelligent Autonomy for Unmanned Marine Vehicles ISBN: 3319187775 ISBN-13(EAN): 9783319187778 Издательство: Springer Рейтинг: Цена: 104480.00 T Наличие на складе: Есть у поставщика Поставка под заказ. Описание: This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively.
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