E-raamat: Lyapunov-Based Control of Robotic Systems

Written by Behal (U. of Florida, US), Dixon (U. of Florida, US), Dawson (Clemson U., US) and Xian (Tianjin U., China), this work describes frameworks for setting up nonlinear control design problems pertinent to robotic perception, interaction, and manipulation of environments, with the focus framework being Lyapunov-based nonlinear control design. Following an introduction to the history of robotics and the Lyapunov-based control philosophy, chapters cover the standard control design tools available for robotic systems within the context of the Lyapunov-based framework; problems in visual servoing control, including robot end-effector tracking a prerecorded time-varying reference trajectory under visual feedback from a monocular camera, estimating the shape of a continuum robot, tracking and regulation problems of wheeled mobile robots, and the classic Structure from Motion problem. They also discuss problems of path planning and control for manipulator arms and wheeled mobile robots, both when obstacle locations are known a priori and when they need to be determined in real time using fixed or in-hand vision as an active feedback element. They further address the emerging research area of human-machine interaction in the context of smart exercise machines, steer-by-wire control of vehicles, problems of force and motion in remote teleoperator systems, and rehabilitation robots for safely directing user limb motions. Annotation ©2010 Book News, Inc., Portland, OR (booknews.com)