Lyapunov-based control of robotic systems

This work describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Theauthors 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 bedsfor implementing developed controllers. It also explores the state of the artin sensor-based feedback path planning, navigation, and control.

• ISBN: 978-0-8493-7025-0
• Editorial: CRC Press
• Encuadernacion: Cartoné
• Páginas: 389
• Fecha Publicación: 26/01/2010
• Nº Volúmenes: 1
• Idioma: Inglés