| 商家名称 | 信用等级 | 购买信息 | 订购本书 |
 |
 |
Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach |  |
 |
|
Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach | |
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.
作者简介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.
目录Lagrangian Methods & Robot Dynamics
Introduction
Constraining kinematic chains: Manipulators
Manipulator Kinematics: the Denavit & Hartenberg (DH) Parameters
Velocity Kinematics: Jacobians
Degrees of Freedom: The Gruebler criterion and Kutzbach’s modification
Lagangian Formulation of Dynamics
The Principle of Virtual Work
Principle of Least Action: Hamilton's Principle
Generalised Co-ordinates and Holonomic Dynamic Systems
The Euler-Lagrange Equations
Application to Manipulators:
Parallel and Serial Manipulators
Cartesian and spherical manipulators
Planar manipulators: Two link Planar Manipulators
The SCARA manipulator
Two link manipulator on a moving base
Two link manipulator with extendable arms
The multi-link serial manipulator
Rotating Planar Manipulators
The PUMA 560 manipulator
Spatial Manipulators
Manipulator Dynamics in terms of DH Parameters
Application to Mobile vehicles
Exercises
References
Unmanned Aerial Vehicles (UAV) Dynamics & Lagrangian Methods
Flight Dynamics of UAVs
The Newton-Euler Equations of rigid UAVs
The Lagrangian & Hamiltonian Formulations
Euler-Lagrange Equations of Motion in Quasi-Coordinates
The Complete Equations of Motion of UAV
Exercises
References
Feedback Linearisation & Decoupling
Lie derivatives, Lie Brackets & Lie Algebras
Pure Feedback Form
Relative Degree
Feedback Linearisation: Pure feedback System
Input-Output Feedback Linearisation
Partial Feedback Linearisation
Input to State Feedback Linearisation
Examples
Feedback Decoupling
Examples
Dynamic Feedback Linearisation
Example
Partial Feedback Linearisation of the ACROBOT
Exercises
References
Linear and Phase Plane Analysis of Stability
Introduction
The Phase Plane
Equilibrium and Stability: Lyapunov's first method
Regular and Singular points
The Saddle
Sinks: Focus, node, improper node and spiral
The Centre
Sources
The limit cycle
Stability analysis of non-linear systems with linear damping
Response of non-linear systems: Geometric and Algebraic approaches
Non-numerical geometric methods
Numerically oriented geometric methods
The method of Perturbation
Variation of parameters
Harmonic balance and describing functions
Examples of Non-linear Systems and their analysis
Undamped Free Vibrations of a Simple Pendulum
The Duffing Oscillator
The Van der Pol Oscillator
Features of Non-linear System Responses
Superharmonic response
Jump Phenomenon
Subharmonic resonance
Combination resonance
Self-excited oscillations
Exercises
References
Robot & UAV Control: An Overview
Introduction
Controlling Robot Manipulators
Model Based and Biomimetic Methods of Control
Artificial Neural Networks
Boolean Logic and its Quantification
Fuzzy Sets
Operations on Fuzzy Sets
Relations between Fuzzy Sets
Fuzzy Logic and the implication of a rule
Fuzzy Reasoning
Fuzzy Logic Control
A typical application
Exercises
References
Stability
Stability Concepts
Input/Output Stability
Bounded input bounded output (BIBO) stability
L2 stability / Lp stability
Internal stability:
Input to state Stability
Advanced Stability Concepts
Passive Systems
Linear Systems: The concept of Passivity and positive-real systems
Nonlinear Systems: The Concepts of Hyperstability
Lure’s Problem
Kalman-Yakubovich (KY) and other related lemmas
Small-Gain Theorem
Total Stability Theorem
Exercises
References
Lyapunov Stability
Lyapunov, Asymptotic and Exponential Stability
Local & Global stability
Lyapunov’s First & Second Methods
Lyapunov’s Direct Method: Example
Positive Definite & Lyapunov Functions
Lyapunov’s Stability Theorem
La Salle’s Invariant Set Theorems
Linear Time Invariant (LTI) systems
Barbalat’s Lemma and Uniform Ultimate Boundedness
Exercises
References
Computed Torque Control
Introduction
Geometric Path Generation
Motion control of a robot manipulator
Computer Simulation of Robotic Manipulators in MATLAB/SIMULINK
Computed-Torque Control concept
PD & PID Auxiliary control laws
Simulation of Robot Dynamics and the feedback controller
Exercises
References
Sliding Mode Control
Introduction
Design Example
Phase Plane Trajectory Shaping
Sliding Line and Sliding Mode
The Lyapunov Approach: Choosing the Control Law
The Closed Loop System: The general case
Principles of Variable Structure Control
Design of Sliding Mode Control Laws
Application Example
Higher Order Sliding Mode Control
Application Example
Exercises
References
Parameter Identification
Introduction & Concept
Transfer Function Identification
Model Parameter Identification
Regression & Least Squares Solution
Recursive Parameter Updating
Matrix Inversion Lemma
The Recursive Algorithm
Application Examples: Example 1
Least Squares Estimation
The Generalised Least Squares Problem
The Solution to the Generalised Least Squares Problem in Recursive Form
The Nonlinear Least Squares Problem
Application Examples: Example 2
Exercises
References
Adaptive & Model Predictive Control
Adaptive Control Concept
Basics of Adaptive Control
Self-Tuning Control
Methods of Parameter Identification
Model Reference Adaptive Control
Indirect & Direct Adaptive Control
Inverted Pendulum on a Cart Model
Adaptive Control of a Two-Link manipulator
Robust Adaptive Control of a Linear Plant
Robust Adaptive Control of a Robot Manipulator
Neural Network Based Adaptive Control
Model Predictive Control (MPC)
MPC with Linear Prediction Model
MPC with a Nonlinear Prediction Model
MPC with a Nonlinear Filter/Controller
MPC with a Nonlinear H∞ controller
Exercises
References
Lyapunov Design: The Back-stepping Approach
Lyapunov Stability: Review
Positive Definite Function: Review
Second Method of Lyapunov: Review
Motivating Examples
The Back-Stepping Principle
The Back-Stepping Lemma:
Relationship to H∞ control
Model Matching, Decoupling and Inversion
Application of the Back-Stepping Lemma:
Examples
Design of a Back-Stepping Control Law for the ACROBOT
Exercises
References
Hybrid Position & Force Control
Introduction
Hybrid Position & Force Control (Direct Force Control)
Hybrid Position & Force Control: The general theory
Indirect Adaptive Control of Position and Force
Direct Adaptive Control of Impedance
Sliding Mode Control of Impedance and Position
The Operational Space Concept
Active Interaction Control
Coordinated spatial control of multiple serial manipulators in contact with an object
Coordinated spatial control of multiple serial manipulators in contact with a constrained object
Exercises
References
UAV Control
Introduction
Aircraft/UAV Parameter Estimation
Application of Parameter Estimation to Stability and Control
Motion Control of Rigid Bodies
Nonlinear Dynamic Inversion
Scalar and Vector Backstepping
Dynamics of a Quadrotor UAV
Back-stepping Control of the Quadrotor
Back-stepping Control of a Fixed Wing Aircraft
Adaptive Control of UAVs
Flight Control of UAVs with Dynamic Inversion Control
Stability of the Closed Loop without adaptation
Adaptive Dynamic Inversion
Stability of the Closed Loop with adaptation
Adaptive Flight Path Tracking of Fixed Wing UAVS
Adaptive Attitude Control of Fixed Wing UAVS
Attitude Control of Fixed Wing UAVS with Adaptive Dynamic Inversion
Guidance of UAVs
Basic Flight Planning
Line of sight (LOS) based pursuit guidance
Straight-line guidance
Exercises
References
网友对Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach的评论
喜欢Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach请与您的朋友分享,由于版权原因，读书人网不提供图书下载服务
