ABSTRACT

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.

chapter 1|62 pages

Lagrangian Methods and Robot Dynamics

chapter 3|40 pages

Feedback Linearization

chapter 5|24 pages

Robot and Uav Control: An Overview

chapter 6|14 pages

Stability

chapter 7|12 pages

Lyapunov Stability

chapter 8|16 pages

Computed Torque Control

chapter 9|36 pages

Sliding Mode Control

chapter 10|16 pages

Parameter identication

chapter 11|64 pages

Adaptive and Model Predictive Control

chapter 12|40 pages

Lyapunov Design: The Backstepping Approach

chapter 13|32 pages

Hybrid Position and Force Control

chapter 14|80 pages

UAV Control