Description
Nonlinear Control of Robots and Unmanned Aerial Vehicles
An Integrated Approach
Author: Vepa Ranjan
Language: English
Subjects for Nonlinear Control of Robots and Unmanned Aerial Vehicles:
Keywords
Equilibrium Point; back-stepping; Lyapunov Function; Feedback linearization; Phase Plane Plot; Lyapunov control methods; Partial Feedback Linearization; Unmanned Aerial Vehicles; Phase Plane Trajectory; nonlinear control; Robot Manipulator; Unmanned Aerial Systems; Control Law; PUMA; Membership Function; robotic manipulators; Asymptotically Stable; stability; Sliding Mode Controller; MATLAB; Sliding Mode Control; Simulink; Control Lyapunov Function; Dynamic modeling; Positive Real; Parameter identification; Algebraic Riccati Equation; Adaptive Dynamic Inversion; Computed Torque Control; Geometric Path Generation; Positive Real Transfer Functions; Variable Structure Control; Decoupling Matrix; La Salle’s Invariant Set Theorems; Non-autonomous Dynamic System; Model Matching Problem; Nonautonomous Dynamic System; Lie Algebra; Uniform Ultimate Boundedness; Fuzzy Sets; Hamilton Jacobi Bellman Equation; Control Canonic Form
· 21x28 cm · Hardback
Description
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Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.
Lagrangian Methods for Robot Manipulators. Unmanned Aerial Vehicles (UAV) Dynamics & Lagrangian Methods. Feedback Linearisation & Decoupling. Linear and Phase Plane Analysis of Stability. Robot & UAV Control: An Overview. Stability. Lyapunov Stability. Computed Torque Control. Sliding Mode Control. Parameter Identification. Adaptive & Model Predictive Control. Lyapunov Design: The Back-stepping Approach. Hybrid Position & Force Control. UAV Control.
Dr. Ranjan Vepa earned his PhD in applied mechanics from Stanford University, California. He currently serves as a lecturer in the School of Engineering and Material Science, Queen Mary University of London, where he has also been the programme director of the Avionics Programme since 2001.. Dr. Vepa is a member of the Royal Aeronautical Society, London; the Institution of Electrical and Electronic Engineers (IEEE), New York; a fellow of the Higher Education Academy; a member of the Royal Institute of Navigation, London; and a chartered engineer.
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