Robust Control of Robots

Bridging the divide between robust control theory and its application, this volume focuses on robotic manipulators and illustrates the mathematical concepts through experimental results in reproducible detail, obtained with a two-manipulator system.

Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts:

• robust control of regular, fully-actuated robotic manipulators;
• robust post-failure control of robotic manipulators; and

• robust control of cooperative robotic manipulators.
  In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors.

  The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.

  Comes with access to online material containing a MATLAB®-based simulator including all controllers presented in the book Discusses experimental results of the implementation of H-infinity controllers to robotic manipulators Written by experts in robust control of robots

  Inhalt

  1. Experimental Set Up.- 2. Linear H Control.- 3. Nonlinear H Control.- 4. Adaptive Nonlinear H Control.- 5. Underactuated Robot Manipulators.- 6. Markov Jump Linear Systems (MJLS)-based Control.- 7. Underactuated Cooperative Manipulators.- 8. A Fault Tolerance Framework for Cooperative Robotic Manipulators.- 9. Robust Control of Cooperative Manipulators.