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Showing 1 - 4 of 4 matches in All Departments
"Neural Network-Based State Estimation of Nonlinear Systems" presents efficient, easy to implement neural network schemes for state estimation, system identification, and fault detection and Isolation with mathematical proof of stability, experimental evaluation, and Robustness against unmolded dynamics, external disturbances, and measurement noises.
This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.
This monograph is concerned with the development and implementation
of nonlinear mathematical techniques for feedback control and shape
design of robot manipulators whose links have considerable
structural flexibility. Several nonlinear control and observation
techniques are studied and implemented by simulations and
experiments in a laboratory setup. These techniques include
integral manifolds in singular perturbation theory, nonlinear
input-output decoupling, nonlinear observers and sliding
control.
Lightweight, mechanical systems, including such applications as robots, are generally more flexible, environmentally sustainable, faster and accurate that heavy-duty fixed systems, but their very lightness and flexibility can cause undesirable vibration. To solve this problem, the authors provide the necessary mathematical background for those new to the field, then describe the placement and control of piezoelectric actuators, use of the flexible-link manipulator, calculation and design of friction compensation, design and control of the piezoelectric stack, and design of the macro manipulator. They provide further information on dynamic modeling, piezoelectric stack actuators and macro manipulators in the appendices. Review copy included errata sheet. Readers are advised to confirm data independently.
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