Underactuated Robot Control by Van-Truong Nguyen (.ePUB)+
File Size: 50.3 MB
Underactuated Robot Control: Dynamic, Modeling and Control by Van-Truong Nguyen, Harish Garg
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Overview: This book delves into dynamic modeling, control strategies, and theoretical foundations of underactuated robotic systems. Designed for robotics researchers, graduate students, and professionals, it guides them to: understand fundamental principles governing underactuated systems and their nonlinear dynamics, and use cutting-edge control techniques, such as feedback linearization, sliding mode control, energy-based methods, and Machine Learning integration. Focusing on practical applications and making use of case studies and simulation exercises to solidify understanding, this book equips readers with the necessary tools needed to address real-world robotics challenges.
Chapter 1 provides a general introduction to the background, characteristics, and applications of underactuated manipulators, along with an overview of the current research. Chapter 2 discusses detailed modeling approaches, with the widely studied two-link Pendubot used as the benchmark system. Chapter 3 addresses Nonlinear Computed Torque control design and its applications in swing-up and balancing tasks, while Chap. 4 explains the use of Linear Quadratic Regulator strategies. Chapter 5 introduces Hierarchical Sliding Mode Control, emphasizing robustness, and Chap. 6 extends this framework with advanced Sliding Mode Control techniques, including Terminal, Fast Terminal, and Nonsingular Terminal variants. Chapters 7 and 8 explore the integration of Type I and Type II fuzzy logic with HSMC to handle uncertainties and enhance adaptability. Chapter 9 introduces Hedge-Algebra-based control as a novel approach to nonlinear systems, and Chap. 10 concludes with neural network–based sliding mode control using Radial Basis Function (RBF) networks to improve learning and control precision.
Genre: Non-Fiction > Tech & Devices
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