Robust Control of Robots : Fault Tolerant Approaches （2011）

Siqueira, Adriano A. G./ Terra, Marco H./ Bergerman, Marcel

Springer London Ltd（2014/09発売）

• 製本 Paperback:紙装版/ペーパーバック版／ページ数 228 p.
• 言語 ENG
• 商品コード 9781447157922
• DDC分類 670

Full Description

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.

Contents

1. Experimental Set Up.- 2. Linear H∞ Control.- 3. Nonlinear H∞ Control.- 4. Adaptive Nonlinear H∞ 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.