Robust Control Of Robots
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| Author | : Adriano A. G. Siqueira |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 234 |
| Release | : 2011-08-14 |
| Genre | : Technology & Engineering |
| ISBN | : 0857298984 |
Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators; robust post-failure control of robotic manipulators; and robust control of cooperative robotic manipulators. In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors. The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.
| Author | : Miomir Vukobratovic |
| Publisher | : World Scientific |
| Total Pages | : 657 |
| Release | : 2009 |
| Genre | : Technology & Engineering |
| ISBN | : 9812834761 |
This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.
| Author | : Andreas Müller |
| Publisher | : BoD – Books on Demand |
| Total Pages | : 412 |
| Release | : 2011-11-21 |
| Genre | : Science |
| ISBN | : 9533074213 |
Robust control has been a topic of active research in the last three decades culminating in H_2/H_\infty and \mu design methods followed by research on parametric robustness, initially motivated by Kharitonov's theorem, the extension to non-linear time delay systems, and other more recent methods. The two volumes of Recent Advances in Robust Control give a selective overview of recent theoretical developments and present selected application examples. The volumes comprise 39 contributions covering various theoretical aspects as well as different application areas. The first volume covers selected problems in the theory of robust control and its application to robotic and electromechanical systems. The second volume is dedicated to special topics in robust control and problem specific solutions. Recent Advances in Robust Control will be a valuable reference for those interested in the recent theoretical advances and for researchers working in the broad field of robotics and mechatronics.
| Author | : Miomir Vukobratovi? |
| Publisher | : World Scientific |
| Total Pages | : 657 |
| Release | : 2009 |
| Genre | : Technology & Engineering |
| ISBN | : 9812834753 |
This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.The ultimate aim is to strike a good balance between the necessary theoretical framework and theoretical aspects of interactive robots.
| Author | : Joyjit Mukherjee |
| Publisher | : Springer Nature |
| Total Pages | : 179 |
| Release | : 2021-05-11 |
| Genre | : Technology & Engineering |
| ISBN | : 3030714608 |
This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods. The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrates how the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion. Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.
| Author | : Petko Hristov Petkov |
| Publisher | : Control, Robotics and Sensors |
| Total Pages | : 533 |
| Release | : 2018 |
| Genre | : Computers |
| ISBN | : 1785613308 |
The aim of this book is to present the theoretical and practical aspects of embedded robust control design and implementation with the aid of MATLAB(R) and SIMULINK(R). It covers methods suitable for practical implementations, combining knowledge from control system design and computer engineering to describe the entire design cycle.
| Author | : Zhihua Qu |
| Publisher | : |
| Total Pages | : 276 |
| Release | : 1996 |
| Genre | : Robots |
| ISBN | : |
| Author | : Spyros G Tzafestas |
| Publisher | : Elsevier |
| Total Pages | : 718 |
| Release | : 2013-10-03 |
| Genre | : Technology & Engineering |
| ISBN | : 0124171036 |
Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background
| Author | : Gangbing Song |
| Publisher | : |
| Total Pages | : 302 |
| Release | : 1995 |
| Genre | : |
| ISBN | : |
| Author | : Aude Billard |
| Publisher | : MIT Press |
| Total Pages | : 425 |
| Release | : 2022-02-08 |
| Genre | : Technology & Engineering |
| ISBN | : 0262367017 |
Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.
