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Lyapunov-Based Control of Robotic Systems
Paperback
Technology & EngineeringGeneral Computers
ISBN13: 9780367452421
Publisher: CRC Press
Published: Dec 2 2019
Pages: 392
Weight: 1.20
Height: 0.80 Width: 6.14 Depth: 9.21
Language: English
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 sensor-based feedback path planning, navigation, and control.
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