Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach

by Ranjan Vepa

Overview

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.

Product Details

ISBN-13:	9781315350301
Publisher:	CRC Press
Publication date:	10/14/2016
Sold by:	Barnes & Noble
Format:	eBook
Pages:	562
File size:	11 MB
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About the Author

Dr. Ranjan Vepa earned his PhD in applied mechanics from Stanford University, California. He currently serves as a lecturer in the School of Engineering and Material Science, Queen Mary University of London, where he has also been the programme director of the Avionics Programme since 2001.. Dr. Vepa is a member of the Royal Aeronautical Society, London; the Institution of Electrical and Electronic Engineers (IEEE), New York; a fellow of the Higher Education Academy; a member of the Royal Institute of Navigation, London; and a chartered engineer.

Table of Contents

Lagrangian Methods for Robot Manipulators. Unmanned Aerial Vehicles (UAV) Dynamics & Lagrangian Methods. Feedback Linearisation & Decoupling. Linear and Phase Plane Analysis of Stability. Robot & UAV Control: An Overview. Stability. Lyapunov Stability. Computed Torque Control. Sliding Mode Control. Parameter Identification. Adaptive & Model Predictive Control. Lyapunov Design: The Back-stepping Approach. Hybrid Position & Force Control. UAV Control.

Editorial Reviews

"In one volume Vepa has done a very good job of concisely presenting methodologies and theories for realising the control of unmanned aerial vehicles and robots. It is written in such a way that is easy to understand and hence apply. It is like a toolkit of methodologies and equations to understand various Robot platform problems and challenges as well as control theories and approaches one could bring to bear to solve them in various scenarios. It is also a good book for those who are interested in model based design of control systems.
The way the book is written enables a reader to read each chapter independently thereby making it suited for a quick read to learn a concept or brush up on one’s knowledge. I believe this book will appeal to a wide readership of industrial engineers as well as academics interested in extending the frontiers of control theory on UAVs and Robots."
— The Aeronautical Journal, May 2018 Issue

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