Robotic manipulators and vehicles : control, estimation and filtering
著者
書誌事項
Robotic manipulators and vehicles : control, estimation and filtering
（Studies in systems, decision and control / series editor Janusz Kacprzyk, 152）
Springer, c2018
- : hbk
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注記
Includes bibliographical references (p. 697-726) and index
内容説明・目次
内容説明
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.
目次
Rigid-Link Manipulators: Model-Based Control.- Rigid-Link Manipulators: Model-Free Control.- Underactuated Robotic Manipulators.- Closed-Chain Robotic Systems and Mechanisms.- Flexible-Link Manipulators.- Automatic Ground Vehicles.- Unmanned Aerial Vehicles.- Unmanned Surface Vessels.- Autonomous Underwater Vessels.- Cooperating Autonomous Vehicles.
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