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Title Lyapunov-based control of robotic systems / Aman Behal [and others].
Imprint Boca Raton : CRC Press, ©2010.


 Internet  Electronic Book    AVAILABLE
Description 1 online resource (xiv, 375 pages) : illustrations
Series Automation and control engineering
Automation and control engineering.
Bibliog. Includes bibliographical references and index.
Note Available only to authorized UTEP users.
Print version record.
Subject Robots -- Control systems.
Nonlinear control theory.
Lyapunov functions.
Contents 1. Introduction -- 2. Robot control -- 3. Vision-based systems -- 4. Path planning and control -- 5. Human machine interaction.
Summary 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 explor.
Other Author Behal, Aman.
Other Title Print version: Lyapunov-based control of robotic systems. Boca Raton : CRC Press, ©2010 9780849370250