Lyapunov-based Control of Robotic Systems

ISBN: 9780849370250

出版社: CRC Pr I Llc

出版年: 2009-12

页数: 389

定价: $ 178.48

装帧: HRD

内容简介

This work describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. The authors use Lyapunov's direct method as an effective tool to design and analyze controllers for robotic systems and include numerous examples that illustrate how this method addresses advanced robotics research problems. After providing a historical perspective of robotics and a review of standard robot control approaches, the book presents real-time computing and experimental test beds for implementing developed controllers. It also explores the state of the art in sensor-based feedback path planning, navigation, and control.