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Author : John J. Craig
Publisher : Addison Wesley Publishing Company
ISBN 13 :
Total Pages : 152 pages
Book Rating : 4.3/5 (91 download)
Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Nhan T. Nguyen
Publisher : Springer
ISBN 13 : 3319563939
Total Pages : 453 pages
Book Rating : 4.3/5 (195 download)
Download or read book Model-Reference Adaptive Control written by Nhan T. Nguyen and published by Springer. This book was released on 2018-03-01 with total page 453 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook provides readers with a good working knowledge of adaptive control theory through applications. It is intended for students beginning masters or doctoral courses, and control practitioners wishing to get up to speed in the subject expeditiously. Readers are taught a wide variety of adaptive control techniques starting with simple methods and extending step-by-step to more complex ones. Stability proofs are provided for all adaptive control techniques without obfuscating reader understanding with excessive mathematics. The book begins with standard model-reference adaptive control (MRAC) for first-order, second-order, and multi-input, multi-output systems. Treatment of least-squares parameter estimation and its extension to MRAC follow, helping readers to gain a different perspective on MRAC. Function approximation with orthogonal polynomials and neural networks, and MRAC using neural networks are also covered. Robustness issues connected with MRAC are discussed, helping the student to appreciate potential pitfalls of the technique. This appreciation is encouraged by drawing parallels between various aspects of robustness and linear time-invariant systems wherever relevant. Following on from the robustness problems is material covering robust adaptive control including standard methods and detailed exposition of recent advances, in particular, the author’s work on optimal control modification. Interesting properties of the new method are illustrated in the design of adaptive systems to meet stability margins. This method has been successfully flight-tested on research aircraft, one of various flight-control applications detailed towards the end of the book along with a hybrid adaptive flight control architecture that combines direct MRAC with least-squares indirect adaptive control. In addition to the applications, understanding is encouraged by the use of end-of-chapter exercises and associated MATLAB® files. Readers will need no more than the standard mathematics for basic control theory such as differential equations and matrix algebra; the book covers the foundations of MRAC and the necessary mathematical preliminaries.
Author : Dan Zhang
Publisher : CRC Press
ISBN 13 : 1498764886
Total Pages : 441 pages
Book Rating : 4.4/5 (987 download)
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Author : An-Chyau Huang
Publisher : World Scientific
ISBN 13 : 9814307416
Total Pages : 274 pages
Book Rating : 4.8/5 (143 download)
Download or read book Adaptive Control of Robot Manipulators written by An-Chyau Huang and published by World Scientific. This book was released on 2010 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.
Author : Petros Ioannou
Publisher : Courier Corporation
ISBN 13 : 0486320723
Total Pages : 850 pages
Book Rating : 4.4/5 (863 download)
Download or read book Robust Adaptive Control written by Petros Ioannou and published by Courier Corporation. This book was released on 2013-09-26 with total page 850 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presented in a tutorial style, this comprehensive treatment unifies, simplifies, and explains most of the techniques for designing and analyzing adaptive control systems. Numerous examples clarify procedures and methods. 1995 edition.
Author : Daniel Liberzon
Publisher : Springer Science & Business Media
ISBN 13 : 1461200172
Total Pages : 232 pages
Book Rating : 4.4/5 (612 download)
Download or read book Switching in Systems and Control written by Daniel Liberzon and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: The theory of switched systems is related to the study of hybrid systems, which has gained attention from control theorists, computer scientists, and practicing engineers. This book examines switched systems from a control-theoretic perspective, focusing on stability analysis and control synthesis of systems that combine continuous dynamics with switching events. It includes a vast bibliography and a section of technical and historical notes.
Author : Matko Orsag
Publisher : Springer
ISBN 13 : 3319610228
Total Pages : 246 pages
Book Rating : 4.3/5 (196 download)
Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
Author : Dan Zhang
Publisher : CRC Press
ISBN 13 : 1351678922
Total Pages : 407 pages
Book Rating : 4.3/5 (516 download)
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Author : Eugene Lavretsky
Publisher : Springer
ISBN 13 : 9783031383137
Total Pages : 0 pages
Book Rating : 4.3/5 (831 download)
Download or read book Robust and Adaptive Control written by Eugene Lavretsky and published by Springer. This book was released on 2023-10-05 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robust and Adaptive Control (second edition) shows readers how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Driven by aerospace applications, the focus of the book is primarily on continuous-time dynamical systems. The two-part text begins with robust and optimal linear control methods and moves on to a self-contained presentation of the design and analysis of model reference adaptive control for nonlinear uncertain dynamical systems. Features of the second edition include: sufficient conditions for closed-loop stability under output feedback observer-based loop-transfer recovery (OBLTR) with adaptive augmentation; OBLTR applications to aerospace systems; case studies that demonstrate the benefits of robust and adaptive control for piloted, autonomous and experimental aerial platforms; realistic examples and simulation data illustrating key features of the methods described; and problem solutions for instructors and MATLAB® code provided electronically. The theory and practical applications address real-life aerospace problems, being based on numerous transitions of control-theoretic results into operational systems and airborne vehicles drawn from the authors’ extensive professional experience with The Boeing Company. The systems covered are challenging—often open-loop unstable with uncertainties in their dynamics—and thus require both persistently reliable control and the ability to track commands either from a pilot or a guidance computer. Readers should have a basic understanding of root locus, Bode diagrams, and Nyquist plots, as well as linear algebra, ordinary differential equations, and the use of state-space methods in analysis and modeling of dynamical systems. The second edition contains a background summary of linear systems and control systems and an introduction to state observers and output feedback control, helping to make it self-contained. Robust and Adaptive Control teaches senior undergraduate and graduate students how to construct stable and predictable control algorithms for realistic industrial applications. Practicing engineers and academic researchers will also find the book of great instructional value.
Author : Yoan D. Landau
Publisher : CRC Press
ISBN 13 : 9780824765484
Total Pages : 432 pages
Book Rating : 4.7/5 (654 download)
Download or read book Adaptive Control written by Yoan D. Landau and published by CRC Press. This book was released on 1979-06-01 with total page 432 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Dan Zhang
Publisher : Springer
ISBN 13 : 3319335812
Total Pages : 457 pages
Book Rating : 4.3/5 (193 download)
Download or read book Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing written by Dan Zhang and published by Springer. This book was released on 2016-08-22 with total page 457 pages. Available in PDF, EPUB and Kindle. Book excerpt: Featuring selected contributions from the 2nd International Conference on Mechatronics and Robotics Engineering, held in Nice, France, February 18–19, 2016, this book introduces recent advances and state-of-the-art technologies in the field of advanced intelligent manufacturing. This systematic and carefully detailed collection provides a valuable reference source for mechanical engineering researchers who want to learn about the latest developments in advanced manufacturing and automation, readers from industry seeking potential solutions for their own applications, and those involved in the robotics and mechatronics industry.
Author : Gang Feng
Publisher : Elsevier
ISBN 13 : 0080498604
Total Pages : 361 pages
Book Rating : 4.0/5 (84 download)
Download or read book Adaptive Control Systems written by Gang Feng and published by Elsevier. This book was released on 1999-05-10 with total page 361 pages. Available in PDF, EPUB and Kindle. Book excerpt: Adaptive control is no longer just an important theoretical field of study, but is also providing solutions to real-world problems. Adaptive techniques will transform the world of control. The leading world practitioners of adaptive control have contributed to this handbook which is the most important work yet in this field. Not only are techniques described in theory, but detailed control algorithms are given, making this a practical cookbook of adaptive control for both control professionals and practising engineers.The book presents the most advanced techniques and algorithms of adaptive control. These include various robust techniques, performance enhancement techniques, techniques with less a-priori knowledge, nonlinear adaptive control techniques and intelligent adaptive techniques. Each technique described has been developed to provide a practical solution to a real-life problem. This volume will therefore not only advance the field of adaptive control as an area of study, but will also show how the potential of this technology can be realised and offer significant benefits. - Practical cookbook of adaptive control - Contains important research
Author : Tong Heng Lee
Publisher : World Scientific
ISBN 13 : 9789810234522
Total Pages : 400 pages
Book Rating : 4.2/5 (345 download)
Download or read book Adaptive Neural Network Control of Robotic Manipulators written by Tong Heng Lee and published by World Scientific. This book was released on 1998 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.
Author : Rolf Isermann
Publisher :
ISBN 13 : 9780130054142
Total Pages : 541 pages
Book Rating : 4.0/5 (541 download)
Download or read book Adaptive Control Systems written by Rolf Isermann and published by . This book was released on 1992 with total page 541 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the state-of-the-art of adaptive control in particular with regard to realization with digital process computers, microcomputers and personal computers. It presents the fundamental principles through the design steps, theoretical analysis, simulation studies, comparison, software and hardware realization to real applications.
Author : Bruno Siciliano
Publisher : Springer
ISBN 13 : 3319325523
Total Pages : 2259 pages
Book Rating : 4.3/5 (193 download)
Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Author : I. D. Landau
Publisher : Elsevier
ISBN 13 : 148319065X
Total Pages : 389 pages
Book Rating : 4.4/5 (831 download)
Download or read book Adaptive Systems in Control and Signal Processing 1983 written by I. D. Landau and published by Elsevier. This book was released on 2014-06-28 with total page 389 pages. Available in PDF, EPUB and Kindle. Book excerpt: Adaptive Systems in Control and Signal Processing 1983 is a compendium of papers presented at the International Federation of Automatic Control in San Francisco on June 20-22, 1983. One paper addresses the results through comparative alternative algorithms in adaptive control of linear time invariant and time varying systems. Another paper presents a method in computer simulation of a wide range of stable plants to achieve an alternative approach in designing an adaptive control system. The book also compares the stability and the sensitivity approach involving the design of model-reference adaptive systems. The authors involved explain that the sensitivity concept determines the "dynamic speed of adaptation," while the stability concept focuses on finding a linear compensator for any deviant signal. One paper proposes an indirect adaptive control algorithm for MIMO square full rank minimum phase systems, while another paper discusses the application of the discrete time multivariable adaptive control system, to non-minimum phase plants with an unknown dead time. This book can prove valuable to engineers and researchers of electrical, computer, and mechanical engineering. It can also be helpful for technicians and students dealing with automatic control and telecontrol.
Author : Karl J. Åström
Publisher : Courier Corporation
ISBN 13 : 0486319148
Total Pages : 596 pages
Book Rating : 4.4/5 (863 download)
Download or read book Adaptive Control written by Karl J. Åström and published by Courier Corporation. This book was released on 2013-04-26 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: Suitable for advanced undergraduates and graduate students, this overview introduces theoretical and practical aspects of adaptive control, with emphasis on deterministic and stochastic viewpoints. 1995 edition.
