http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
Nonlinear control of robots and unmanned aerial vehicles
"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."
1. Langrangian methods and robot dynamics -- 2. Unmanned aerial vehicle dynamics and Lagrangian methods -- 3. Feedback linearization -- 4. Linear and phase plane analysis of stability -- 5. Robot and UAV control : an overview -- 6. Stability -- 7. Lyapunov stability -- 8. Computed torque control -- 9. Sliding mode control -- 10. Parameter identification -- 11. Adaptive and model predictive control -- 12. Lyapunov design : the backstepping approach -- 13. Hybrid position and force control -- 14. UAV control.
Includes bibliographical references and index.
Boca Raton, FL : CRC Press, Taylor & Francis Group, [2017]