Robust Control of Robots [electronic resource]: Fault Tolerant Approaches / by Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman.
Tipo de material: TextoDescripción: XVI, 228p. 93 illus. online resourceISBN: 9780857298980 99780857298980Tema(s): Engineering | Artificial intelligence | Engineering | Artificial Intelligence (incl. Robotics) | CONTROL, ROBOTICS, MECHATRONICSClasificación CDD: 629.8 Recursos en línea: ir a documentoTipo de ítem | Ubicación actual | Colección | Signatura | Info Vol | Copia número | Estado | Fecha de vencimiento | Código de barras | Reserva de ítems |
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DOCUMENTOS DIGITALES | Biblioteca Jorge Álvarez Lleras | Digital | 629.8 223 (Navegar estantería) | Ej. 1 | 1 | Disponible | D000666 |
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629.8 223 System Identification | 629.8 223 Adaptive Control: | 629.8 223 Lyapunov Functionals and Stability of Stochastic Difference Equations | 629.8 223 Robust Control of Robots | 629.8 223 Stability and Stabilization of Linear Systems with Saturating Actuators | 629.8 223 Domain of Attraction | 629.8 223 Stabilization of Navier-Stokes Flows |
1. Experimental Set Up -- 2. Linear Hoo Control -- 3. Nonlinear Hoo Control -- 4. Adaptive Nonlinear Hoo Control -- 5. Underactuated Robot Manipulators -- 6. Markov Jump Linear Systems (MJLS)-based Control -- 7. Underactuated Cooperative Manipulators -- 8. A Fault Tolerance Framework for Cooperative Robotic Manipulators -- 9. Robust Control of Cooperative Manipulators.
Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators; robust post-failure control of robotic manipulators; and robust control of cooperative robotic manipulators. In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors. The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.
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