Robust Tracking Control of Robot ManipulatorsIEEE Press, 1996 - 233 pages Bringing together the latest research in the field, Robust Tracking Control of Robot Manipulators is the first book to provide systematic methods for stabilizing unwanted flexible, uncertain, and unmodeled dynamics. The authors present a thorough comparison of state-of-the-art and classical designs of all controls: linear or nonlinear (simple or complicated), conventional or robust, adaptive or learning. Focusing on control design and performance analysis, this book will help you to apply advanced controls effectively and to establish equivalent and different robustness. This book will be invaluable as a guide to researchers and practicing engineers in the field of robot control, automation, and robotic engineering. It will also serve as a useful reference for control of robot manipulators and mechanical-electrical systems. |
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Table des matières
Nonlinear Robust Control | 83 |
Nonlinear Learning Control | 135 |
11 | 140 |
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Expressions et termes fréquents
actuator dynamics adaptive control asymptotic stability boundedness bounding function Chapter chosen constant control gain control law control of robot convergence defined derivative desired trajectory differentiable equation error system feedback linearization feedforward fictitious control follows global stability guarantee IEEE IEEE Transactions inequality initial conditions iterative learning control learning law Lemma linear control linear robust controls Lyapunov argument Lyapunov equation Lyapunov function Lyapunov stability magnitude matrix minmax control negative definite nonlinear learning control nonlinear robust control optimal optimal control PD control performance index polynomial-type control positive definite recursive design Riccati equation rigid body robot dynamics robotic manipulators robotic systems robust control design robust stability saturation-type control saturation-type robust control secs shown stability region theorem torque level tracking error Transactions on Automatic trol ultimate bound uniform ultimate boundedness uniformly bounded unmodeled dynamics variables vector w₁ zero Zj,i