Robotic Manipulators and Vehicles

丛 书 名：Studies in Systems, Decision and Control

版本说明：1st ed. 2018

作     者：Gerasimos Rigatos Krishna Busawon 

I S B N：(纸本) 9783319778501 

出 版 社：Springer International Publishing 

出 版 年：2018年

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 082304[工学-载运工具运用工程] 080204[工学-车辆工程] 070105[理学-运筹学与控制论] 0802[工学-机械工程] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学] 0823[工学-交通运输工程] 

摘      要：This monograph addresses problems of: nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.