MARC details
| 000 -LEADER |
|---|
| fixed length control field |
13229cam a2200409 i 4500 |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
|---|
| control field |
20221115154859.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
|---|
| fixed length control field |
110310s2011 enka b 001 0 eng d |
| 011 ## - LINKING LIBRARY OF CONGRESS CONTROL NUMBER [OBSOLETE] |
|---|
| Local cataloguing issues note |
BIB MATCHES WORLDCAT |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
|---|
| International Standard Book Number |
1849961212 |
| Qualifying information |
hbk. |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
|---|
| International Standard Book Number |
9781849961219 |
| Qualifying information |
hbk. |
| 035 ## - SYSTEM CONTROL NUMBER |
|---|
| System control number |
(ATU)b11898902 |
| 035 ## - SYSTEM CONTROL NUMBER |
|---|
| System control number |
(OCoLC)659245314 |
| 040 ## - CATALOGING SOURCE |
|---|
| Original cataloging agency |
UKM |
| Language of cataloging |
eng |
| Description conventions |
rda |
| Transcribing agency |
UKM |
| Modifying agency |
PUL |
| -- |
ATU |
| 050 #4 - LIBRARY OF CONGRESS CALL NUMBER |
|---|
| Classification number |
TJ211.35 |
| Item number |
.L36 2011 |
| 082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER |
|---|
| Classification number |
629.892 |
| Edition number |
22 |
| 100 1# - MAIN ENTRY--PERSONAL NAME |
|---|
| Personal name |
Lantos, Béla, |
| Relator term |
author. |
| 9 (RLIN) |
286673 |
| 245 10 - TITLE STATEMENT |
|---|
| Title |
Nonlinear control of vehicles and robots / |
| Statement of responsibility, etc. |
by Béla Lantos, Lőrinc Márton. |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Place of production, publication, distribution, manufacture |
London : |
| Name of producer, publisher, distributor, manufacturer |
Springer, |
| Date of production, publication, distribution, manufacture, or copyright notice |
2011. |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Extent |
xxviii, 459 pages : |
| Other physical details |
illustrations ; |
| Dimensions |
24 cm. |
| 336 ## - CONTENT TYPE |
|---|
| Content type term |
text |
| Content type code |
txt |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
|---|
| Media type term |
unmediated |
| Media type code |
n |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
|---|
| Carrier type term |
volume |
| Carrier type code |
nc |
| Source |
rdacarrier |
| 490 1# - SERIES STATEMENT |
|---|
| Series statement |
Advances in industrial control, |
| International Standard Serial Number |
1430-9491 |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
|---|
| Bibliography, etc. note |
Includes bibliographical references (pages 447-453) and index. |
| 505 00 - FORMATTED CONTENTS NOTE |
|---|
| Miscellaneous information |
1. |
| Title |
Introduction-- |
| Miscellaneous information |
1.1. |
| Title |
Basic Notions, Background-- |
| Miscellaneous information |
1.2. |
| Title |
A Short History-- |
| Miscellaneous information |
1.3. |
| Title |
Control Systems for Vehicles and Robots, Research Motivation-- |
| Miscellaneous information |
1.4. |
| Title |
Outline of the Following Chapters-- |
| Miscellaneous information |
2. |
| Title |
Basic Nonlinear Control Methods-- |
| Miscellaneous information |
2.1. |
| Title |
Nonlinear System Classes-- |
| Miscellaneous information |
2.1.1. |
| Title |
State Equation of Nonlinear Systems-- |
| Miscellaneous information |
2.1.2. |
| Title |
Holonomic and Nonholonomic Systems-- |
| Miscellaneous information |
2.1.3. |
| Title |
Differentially Flat Systems-- |
| Miscellaneous information |
2.2. |
| Title |
Dynamic Model of Simple Systems-- |
| Miscellaneous information |
2.2.1. |
| Title |
Dynamic Model of Inverted Pendulum-- |
| Miscellaneous information |
2.2.2. |
| Title |
Car Active Suspension Model-- |
| Miscellaneous information |
2.2.3. |
| Title |
The Model of the 2 DOF Robot Arm-- |
| Miscellaneous information |
2.3. |
| Title |
Stability of Nonlinear Systems-- |
| Miscellaneous information |
2.3.1. |
| Title |
Stability Definitions-- |
| Miscellaneous information |
2.3.2. |
| Title |
Lyapunov Stability Theorems-- |
| Miscellaneous information |
2.3.3. |
| Title |
Barbalat Lemmas-- |
| Miscellaneous information |
2.3.4. |
| Title |
Stability of Interconnected Passive Systems-- |
| Miscellaneous information |
2.4. |
| Title |
Input-Output Linearization-- |
| Miscellaneous information |
2.5. |
| Title |
Flatness Control-- |
| Miscellaneous information |
2.6. |
| Title |
Backstepping-- |
| Miscellaneous information |
2.7. |
| Title |
Sliding Control-- |
| Miscellaneous information |
2.7.1. |
| Title |
Sliding Control of Second Order Systems-- |
| Miscellaneous information |
2.7.2. |
| Title |
Control Chattering-- |
| Miscellaneous information |
2.7.3. |
| Title |
Sliding Control of Robot-- |
| Miscellaneous information |
2.8. |
| Title |
Receding Horizon Control-- |
| Miscellaneous information |
2.8.1. |
| Title |
Nonlinear Receding Horizon Control-- |
| Miscellaneous information |
2.8.2. |
| Title |
Nonlinear RHC Control of 2D Crane-- |
| Miscellaneous information |
2.8.3. |
| Title |
RHC Based on Linearization at Each Horizon-- |
| Miscellaneous information |
2.9. |
| Title |
Closing Remarks-- |
| Miscellaneous information |
3. |
| Title |
Dynamic Models of Ground, Aerial and Marine Robots-- |
| Miscellaneous information |
3.1. |
| Title |
Dynamic Model of Rigid Body-- |
| Miscellaneous information |
3.1.1. |
| Title |
Dynamic Model Based on Newton-Euler Equations-- |
| Miscellaneous information |
3.1.2. |
| Title |
Kinematic Model Using Euler (RPY) Angles-- |
| Miscellaneous information |
3.1.3. |
| Title |
Kinematic Model Using Quaternion-- |
| Miscellaneous information |
3.2. |
| Title |
Dynamic Model of Industrial Robot-- |
| Miscellaneous information |
3.2.1. |
| Title |
Recursive Computation of the Kinematic Quantities-- |
| Miscellaneous information |
3.2.2. |
| Title |
Robot Dynamic Model Based on Appell's Equation-- |
| Miscellaneous information |
3.2.3. |
| Title |
Robot Dynamic Model Based on Lagrange's Equation-- |
| Miscellaneous information |
3.2.4. |
| Title |
Dynamic Model of SCARA Robot-- |
| Miscellaneous information |
3.3. |
| Title |
Dynamic Model of Car-- |
| Miscellaneous information |
3.3.1. |
| Title |
Nonlinear Model of Car-- |
| Miscellaneous information |
3.3.2. |
| Title |
Input Affine Approximation of the Dynamic Model-- |
| Miscellaneous information |
3.3.3. |
| Title |
Linearized Model for Constant Velocity-- |
| Miscellaneous information |
3.4. |
| Title |
Dynamic Model of Airplane-- |
| Miscellaneous information |
3.4.1. |
| Title |
Coordinate Systems for Navigation-- |
| Miscellaneous information |
3.4.2. |
| Title |
Airplane Kinematics-- |
| Miscellaneous information |
3.4.3. |
| Title |
Airplane Dynamics-- |
| Miscellaneous information |
3.4.4. |
| Title |
Wind-Axes Coordinate System-- |
| Miscellaneous information |
3.4.5. |
| Title |
Gravity Effect-- |
| Miscellaneous information |
3.4.6. |
| Title |
Aerodynamic Forces and Torques-- |
| Miscellaneous information |
3.4.7. |
| Title |
Gyroscopic Effect of Rotary Engine-- |
| Miscellaneous information |
3.4.8. |
| Title |
State Equationsof Airplane-- |
| Miscellaneous information |
3.4.9. |
| Title |
Linearization of the Nonlinear Airplane Model-- |
| Miscellaneous information |
3.4.10. |
| Title |
Parametrization of Aerodynamic and Trust Forces and Moments-- |
| Miscellaneous information |
3.5. |
| Title |
Dynamic Model of Surface and Underwater Ships-- |
| Miscellaneous information |
3.5.1. |
| Title |
Rigid Body Equationof Ship-- |
| Miscellaneous information |
3.5.2. |
| Title |
Hydrodynamic Forces and Moments-- |
| Miscellaneous information |
3.5.3. |
| Title |
Restoring Forces and Moments-- |
| Miscellaneous information |
3.5.4. |
| Title |
Ballast Systems-- |
| Miscellaneous information |
3.5.5. |
| Title |
Wind, Wave and Current Models-- |
| Miscellaneous information |
3.5.6. |
| Title |
Kinematic Model-- |
| Miscellaneous information |
3.5.7. |
| Title |
Dynamic Model in Body Frame-- |
| Miscellaneous information |
3.5.8. |
| Title |
Dynamic Model in NED Frame-- |
| Miscellaneous information |
3.6. |
| Title |
Closing Remarks-- |
| Miscellaneous information |
4. |
| Title |
Nonlinear Control of Industrial Robots-- |
| Miscellaneous information |
4.1. |
| Title |
Decentralized Three-Loop Cascade Control-- |
| Miscellaneous information |
4.1.1. |
| Title |
Dynamic Model of DC Motor-- |
| Miscellaneous information |
4.1.2. |
| Title |
Design of Three-Loop Cascade Controller-- |
| Miscellaneous information |
4.1.3. |
| Title |
Approximation of Load Inertia and Disturbance Torque-- |
| Miscellaneous information |
4.2. |
| Title |
Computed Torque Technique-- |
| Miscellaneous information |
4.3. |
| Title |
Nonlinear Decoupling in Cartesian Space-- |
| Miscellaneous information |
4.3.1. |
| Title |
Computation of Equivalent Forces and Torques-- |
| Miscellaneous information |
4.3.2. |
| Title |
Computation of Equivalent Joint Torques-- |
| Miscellaneous information |
4.3.3. |
| Title |
Robot Dynamic Model in Cartesian Space-- |
| Miscellaneous information |
4.3.4. |
| Title |
Nonlinear Decoupling of the Free Motion-- |
| Miscellaneous information |
4.4. |
| Title |
Hybrid Position and Force Control-- |
| Miscellaneous information |
4.4.1. |
| Title |
Generalized Task Specification Matrices-- |
| Miscellaneous information |
4.4.2. |
| Title |
Hybrid Position/Force Control Law-- |
| Miscellaneous information |
4.5. |
| Title |
Self-Tuning Adaptive Control-- |
| Miscellaneous information |
4.5.1. |
| Title |
Independent Parameters of Robot Dynamic Model-- |
| Miscellaneous information |
4.5.2. |
| Title |
Control and Adaptation Laws-- |
| Miscellaneous information |
4.5.3. |
| Title |
Simulation Results for 2-DOF Robot-- |
| Miscellaneous information |
4.5.4. |
| Title |
Identification Strategy-- |
| Miscellaneous information |
4.6. |
| Title |
Robust Backstepping Control in Case of Nonsmooth Path-- |
| Miscellaneous information |
4.6.1. |
| Title |
Gradient Update Laws for Speed Error-- |
| Miscellaneous information |
4.6.2. |
| Title |
Control of 2-DOF Robot Arm Along Rectangle Path-- |
| Miscellaneous information |
4.7. |
| Title |
Closing Remarks-- |
| Miscellaneous information |
5. |
| Title |
Nonlinear Control of Cars-- |
| Miscellaneous information |
5.1. |
| Title |
Control Concept of Collision Avoidance System (CAS)-- |
| Miscellaneous information |
5.2. |
| Title |
Path Design Using Elastic Band-- |
| Miscellaneous information |
5.3. |
| Title |
Reference Signal Design for Control-- |
| Miscellaneous information |
5.4. |
| Title |
Nonlinear Dynamic Model-- |
| Miscellaneous information |
5.5. |
| Title |
Differential Geometry Based Control Algorithm-- |
| Miscellaneous information |
5.5.1. |
| Title |
External State Feedback Design-- |
| Miscellaneous information |
5.5.2. |
| Title |
Stability Proof of Zero Dynamics-- |
| Miscellaneous information |
5.5.3. |
| Title |
Simulation Results Using DGAMethod-- |
| Miscellaneous information |
5.6. |
| Title |
Receding Horizon Control-- |
| Miscellaneous information |
5.6.1. |
| Title |
Nominal Values and Perturbations-- |
| Miscellaneous information |
5.6.2. |
| Title |
RHCOptimization Using End Constraint-- |
| Miscellaneous information |
5.7. |
| Title |
State Estimation Using GPSand IMU-- |
| Miscellaneous information |
5.8. |
| Title |
Simulation Resultswith RHCControl and State Estimation-- |
| Miscellaneous information |
5.9. |
| Title |
Software Implementations-- |
| Miscellaneous information |
5.9.1. |
| Title |
Standalone Programs-- |
| Miscellaneous information |
5.9.2. |
| Title |
Quick Prototype Designfor Target Processors-- |
| Miscellaneous information |
5.10. |
| Title |
Closing Remarks -- |
| 505 80 - FORMATTED CONTENTS NOTE |
|---|
| Miscellaneous information |
6. |
| Title |
Nonlinear Control of Airplanes and Helicopters-- |
| Miscellaneous information |
6.1. |
| Title |
Receding Horizon Control of the Longitudinal Motion of an Airplane-- |
| Miscellaneous information |
6.1.1. |
| Title |
Robust Internal Stabilization Using Disturbance Observer-- |
| Miscellaneous information |
6.1.2. |
| Title |
High Level Receding Horizon Control-- |
| Miscellaneous information |
6.1.3. |
| Title |
Simulation Results with External RHC and Internal Disturbance Observer-- |
| Miscellaneous information |
6.2. |
| Title |
Backstepping Control of an Indoor Quadrotor Helicopter-- |
| Miscellaneous information |
6.2.1. |
| Title |
Dynamic Model of the Quadrotor Helicopter-- |
| Miscellaneous information |
6.2.2. |
| Title |
Sensor System of the Helicopter-- |
| Miscellaneous information |
6.2.3. |
| Title |
State Estimation Using Vision and Inertial Measurements-- |
| Miscellaneous information |
6.2.4. |
| Title |
Backstepping Control Algorithm-- |
| Miscellaneous information |
6.2.5. |
| Title |
Embedded Control Realization-- |
| Miscellaneous information |
6.3. |
| Title |
Closing Remarks-- |
| Miscellaneous information |
7. |
| Title |
Nonlinear Control of Surface Ships-- |
| Miscellaneous information |
7.1. |
| Title |
Control System Structure-- |
| Miscellaneous information |
7.1.1. |
| Title |
Reference Path Design-- |
| Miscellaneous information |
7.1.2. |
| Title |
Line-of-Sight Guidance-- |
| Miscellaneous information |
7.1.3. |
| Title |
Filtering Wave Disturbances-- |
| Miscellaneous information |
7.1.4. |
| Title |
State Estimation Using IMUand GPS-- |
| Miscellaneous information |
7.2. |
| Title |
Acceleration Feedback and Nonlinear PD-- |
| Miscellaneous information |
7.3. |
| Title |
Nonlinear Decoupling-- |
| Miscellaneous information |
7.3.1. |
| Title |
Nonlinear Decoupling in Body Frame-- |
| Miscellaneous information |
7.3.2. |
| Title |
Nonlinear Decoupling in NED Frame-- |
| Miscellaneous information |
7.4. |
| Title |
Adaptive Feedback Linearization-- |
| Miscellaneous information |
7.5. |
| Title |
MIMO Backstepping in 6 DOF-- |
| Miscellaneous information |
7.6. |
| Title |
Constrained Control Allocation-- |
| Miscellaneous information |
7.7. |
| Title |
Simulation Results-- |
| Miscellaneous information |
7.8. |
| Title |
Closing Remarks-- |
| Miscellaneous information |
8. |
| Title |
Formation Control of Vehicles-- |
| Miscellaneous information |
8.1. |
| Title |
Selected Approaches in Formation Control of Vehicles-- |
| Miscellaneous information |
8.2. |
| Title |
Stabilization of Ground Vehicles Using Potential Field Method-- |
| Miscellaneous information |
8.2.1. |
| Title |
Low Level Linearizing Controller-- |
| Miscellaneous information |
8.2.2. |
| Title |
High Level Formation Controller-- |
| Miscellaneous information |
8.2.3. |
| Title |
Passivity Based Formation Stabilization-- |
| Miscellaneous information |
8.3. |
| Title |
Simulation Results for UGVs-- |
| Miscellaneous information |
8.4. |
| Title |
Stabilization of Marine Vehicles Using Passivity Theory-- |
| Miscellaneous information |
8.4.1. |
| Title |
Problem Formulation for Synchronized Path Following-- |
| Miscellaneous information |
8.4.2. |
| Title |
Control Structure-- |
| Miscellaneous information |
8.4.3. |
| Title |
Stability Proof Based on Passivity Theory-- |
| Miscellaneous information |
8.5. |
| Title |
Simulation Results for UMVs-- |
| Miscellaneous information |
8.6. |
| Title |
Closing Remarks-- |
| Miscellaneous information |
9. |
| Title |
Modeling Nonsmooth Nonlinearities in Mechanical Systems-- |
| Miscellaneous information |
9.1. |
| Title |
Modeling and Stability of Nonsmooth Systems-- |
| Miscellaneous information |
9.1.1. |
| Title |
Modeling and Stability of Switched Systems-- |
| Miscellaneous information |
9.1.2. |
| Title |
Modeling, Solution and Stability of Differential Inclusions-- |
| Miscellaneous information |
9.2. |
| Title |
Static Friction Models-- |
| Miscellaneous information |
9.2.1. |
| Title |
Stick-Slip Motion-- |
| Miscellaneous information |
9.2.2. |
| Title |
Friction-Induced Dead Zone-- |
| Miscellaneous information |
9.3. |
| Title |
Dynamic Friction Models-- |
| Miscellaneous information |
9.3.1. |
| Title |
Classic Dynamic Friction Models-- |
| Miscellaneous information |
9.3.2. |
| Title |
Modified and Advanced Dynamic Friction Models-- |
| Miscellaneous information |
9.4. |
| Title |
Piecewise Linearly Parameterized Friction Model-- |
| Miscellaneous information |
9.4.1. |
| Title |
Parameter Equivalence with the Tustin Model-- |
| Miscellaneous information |
9.4.2. |
| Title |
Modeling Errors-- |
| Miscellaneous information |
9.4.3. |
| Title |
Incorporating the Dynamic Effects-- |
| Miscellaneous information |
9.5. |
| Title |
Backlash in Mechanical Systems-- |
| Miscellaneous information |
9.6. |
| Title |
Closing Remarks-- |
| Miscellaneous information |
10. |
| Title |
Mechanical Control Systems with Nonsmooth Nonlinearities-- |
| Miscellaneous information |
10.1. |
| Title |
Switched System Model of Mechanical Systems with Stribeck Friction and Backlash-- |
| Miscellaneous information |
10.2. |
| Title |
Motion Control-- |
| Miscellaneous information |
10.2.1. |
| Title |
Stabilizing Control-- |
| Miscellaneous information |
10.2.2. |
| Title |
Extension of the Control Law for Tracking-- |
| Miscellaneous information |
10.2.3. |
| Title |
Simulation Results-- |
| Miscellaneous information |
10.3. |
| Title |
Friction and Backlash Induced Limit Cycle Around Zero Velocity-- |
| Miscellaneous information |
10.3.1. |
| Title |
Chaotic Measures for Nonlinear Analysis-- |
| Miscellaneous information |
10.3.2. |
| Title |
Simulation Measurements-- |
| Miscellaneous information |
10.4. |
| Title |
Friction Generated Limit Cycle Around Stribeck Velocities-- |
| Miscellaneous information |
10.4.1. |
| Title |
Simulation Results-- |
| Miscellaneous information |
10.4.2. |
| Title |
Experimental Measurements-- |
| Miscellaneous information |
10.5. |
| Title |
Closing Remarks-- |
| Miscellaneous information |
11. |
| Title |
Model Based Identification and Adaptive Compensation of Nonsmooth Nonlinearities-- |
| Miscellaneous information |
11.1. |
| Title |
Friction and Backlash Measurement and Identification in Robotic Manipulators-- |
| Miscellaneous information |
11.1.1. |
| Title |
Friction Measurement and Identification-- |
| Miscellaneous information |
11.1.2. |
| Title |
Backlash Measurement-- |
| Miscellaneous information |
11.1.3. |
| Title |
Velocity Control for Measurements-- |
| Miscellaneous information |
11.1.4. |
| Title |
Experimental Measurements-- |
| Miscellaneous information |
11.2. |
| Title |
Friction Measurement and Identification in Hydraulic Actuators-- |
| Miscellaneous information |
11.2.1. |
| Title |
Mathematical Model of Hydraulic Actuators-- |
| Miscellaneous information |
11.2.2. |
| Title |
Friction Measurement and Identification-- |
| Miscellaneous information |
11.2.3. |
| Title |
Experimental Measurements-- |
| Miscellaneous information |
11.3. |
| Title |
Nonlinear Control of a Ball and Beam System Using Coulomb Friction Compensation-- |
| Miscellaneous information |
11.3.1. |
| Title |
Adaptive Friction Identification-- |
| Miscellaneous information |
11.3.2. |
| Title |
Nonlinear Control Algorithm for the Ball and Beam System-- |
| Miscellaneous information |
11.3.3. |
| Title |
Experimental Evaluations-- |
| Miscellaneous information |
11.4. |
| Title |
Adaptive Payload and Friction Compensation in Robotic Manipulators-- |
| Miscellaneous information |
11.4.1. |
| Title |
Simulation Results-Adaptive Friction Compensation in the Presence of Backlash-- |
| Miscellaneous information |
11.4.2. |
| Title |
Experimental Measurements-- |
| Miscellaneous information |
11.5. |
| Title |
Closing Remarks-- |
| Miscellaneous information |
12. |
| Title |
Conclusions and Future Research Directions-- |
| Miscellaneous information |
12.1. |
| Title |
Summary-- |
| Miscellaneous information |
12.2. |
| Title |
Future Research Directions-- |
| Miscellaneous information |
Appendix A. |
| Title |
Kinematic and Dynamic Foundations of Physical Systems-- |
| Miscellaneous information |
A. |
| Title |
Orientation Description Using Rotations and Quaternion-- |
| Miscellaneous information |
A. |
| Title |
Homogeneous Transformations-- |
| Miscellaneous information |
A. |
| Title |
Orientation Description Using Rotations-- |
| Miscellaneous information |
A. |
| Title |
Orientation Description Using Quaternion-- |
| Miscellaneous information |
A. |
| Title |
Solutionof the Inverse Orientation Problem-- |
| Miscellaneous information |
A. |
| Title |
Differentiation Rule in Moving Coordinate System-- |
| Miscellaneous information |
A. |
| Title |
Inertia Parametersof Rigid Objects-- |
| Miscellaneous information |
A. |
| Title |
Lagrange, Appell and Newton-Euler Equations-- |
| Miscellaneous information |
A. |
| Title |
Lagrange Equation-- |
| Miscellaneous information |
A. |
| Title |
Appell Equation-- |
| Miscellaneous information |
A. |
| Title |
Newton-Euler Equations-- |
| Miscellaneous information |
A. |
| Title |
Robot Kinematics-- |
| Miscellaneous information |
A. |
| Title |
Denavit-Hartenberg Form-- |
| Miscellaneous information |
A. |
| Title |
Direct Kinematic Problem-- |
| Miscellaneous information |
A. |
| Title |
Inverse Kinematic Problem-- |
| Miscellaneous information |
A. |
| Title |
Robot Jacobian-- |
| Miscellaneous information |
Appendix B. |
| Title |
Basis of Differential Geometry for Control Problems-- |
| Miscellaneous information |
B. |
| Title |
Lie Derivatives, Submanifold, Tangent Space-- |
| Miscellaneous information |
B. |
| Title |
Frobenius Theorem-- |
| Miscellaneous information |
B. |
| Title |
Local Reachability and Observability-- |
| Miscellaneous information |
B. |
| Title |
Input/Output Linearization, Zero Dynamics. |
| 520 ## - SUMMARY, ETC. |
|---|
| Summary, etc. |
"Tracking of autonomous vehicles and the high-precision positioning of robotic manipulators require advanced modeling techniques and control algorithms. Controller design should take into account any model nonlinearities. Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. To begin with, the main classes of nonlinear systems and stability methods are summarized. Basic nonlinear control methods useful in manipulator and vehicle control - linearization, backstepping, sliding-mode and receding-horizon control - are presented. Formation control of ground robots and ships is discussed. The second part of the book deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities including analysis of their influence on the performance of motion control systems. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical (guaranteed stability, guaranteed tracking precision, boundedness of all signals in the control loop) and practical (implementability) aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors such as Inertial Measurement System, Global Positioning System and vision systems as part of the control system. Nonlinear Control of Vehicles and Robots will interest academic researchers studying the control of robots and industrial research and development engineers and graduate students wishing to become familiar with modern control algorithms and modeling techniques for the most common mechatronics systems: vehicles and robot manipulators."--Publisher's website. |
| 588 ## - SOURCE OF DESCRIPTION NOTE |
|---|
| Source of description note |
Machine converted from AACR2 source record. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Robots |
| General subdivision |
Control systems |
| 9 (RLIN) |
327084 |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Nonlinear control theory |
| 9 (RLIN) |
327326 |
| 700 1# - ADDED ENTRY--PERSONAL NAME |
|---|
| Personal name |
Márton, Lőrinc. |
| 9 (RLIN) |
1233342 |
| 830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE |
|---|
| Uniform title |
Advances in industrial control. |
| 9 (RLIN) |
1029378 |
| 907 ## - LOCAL DATA ELEMENT G, LDG (RLIN) |
|---|
| a |
.b11898902 |
| b |
22-08-17 |
| c |
27-10-15 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
|---|
| Koha item type |
Book |
| 945 ## - LOCAL PROCESSING INFORMATION (OCLC) |
|---|
| a |
629.892 LAN |
| g |
1 |
| i |
A501782B |
| j |
0 |
| l |
cmain |
| o |
- |
| p |
$215.76 |
| q |
- |
| r |
- |
| s |
- |
| t |
0 |
| u |
1 |
| v |
0 |
| w |
0 |
| x |
0 |
| y |
.i13147341 |
| z |
29-10-15 |
| 998 ## - LOCAL CONTROL INFORMATION (RLIN) |
|---|
| -- |
b |
| -- |
c |
| Operator's initials, OID (RLIN) |
06-04-16 |
| Cataloger's initials, CIN (RLIN) |
m |
| First date, FD (RLIN) |
a |
| -- |
eng |
| -- |
enk |
| -- |
0 |
