Adaptive Robust Control For Planar Snake Robots

Author : Joyjit Mukherjee,Indra Narayan Kar,Sudipto Mukherjee
Publisher : Springer Nature
Page : 179 pages
File Size : 40,5 Mb
Release : 2021-05-11
Category : Technology & Engineering
ISBN : 9783030714604

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Adaptive Robust Control for Planar Snake Robots by Joyjit Mukherjee,Indra Narayan Kar,Sudipto Mukherjee Pdf

This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods. The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrates how the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion. Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.

Author : Spandan Roy,Indra Narayan Kar
Publisher : Springer Nature
Page : 157 pages
File Size : 46,8 Mb
Release : 2019-10-08
Category : Technology & Engineering
ISBN : 9789811506406

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Adaptive-Robust Control with Limited Knowledge on Systems Dynamics by Spandan Roy,Indra Narayan Kar Pdf

The book investigates the role of artificial input delay in approximating unknown system dynamics, referred to as time-delayed control (TDC), and provides novel solutions to current design issues in TDC. Its central focus is on designing adaptive-switching gain-based robust control (ARC) for a class of Euler–Lagrange (EL) systems with minimal or no knowledge of the system dynamics parameters. The newly proposed TDC-based ARC tackles the commonly observed over- and under-estimation issues in switching gain. The consideration of EL systems lends a practical perspective on the proposed methods, and each chapter is supplemented by relevant experimental data. The book offers a unique resource for researchers in the areas of ARC and TDC alike, and covers the state of the art, new algorithms, and future directions.

Author : Maosheng Zheng
Publisher : Springer Nature
Page : 127 pages
File Size : 45,8 Mb
Release : 2024-06-03
Category : Electronic
ISBN : 9789819726615

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Robust Design and Assessment of Product and Production by Means of Probabilistic Multi-objective Optimization by Maosheng Zheng Pdf

Author : Adriano A. G. Siqueira,Marco H. Terra,Marcel Bergerman
Publisher : Springer Science & Business Media
Page : 228 pages
File Size : 52,9 Mb
Release : 2011-08-14
Category : Technology & Engineering
ISBN : 0857298984

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Robust Control of Robots by Adriano A. G. Siqueira,Marco H. Terra,Marcel Bergerman Pdf

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.

Author : Tong Heng Lee,Christopher John Harris
Publisher : World Scientific
Page : 400 pages
File Size : 40,6 Mb
Release : 1998
Category : Electronic
ISBN : 981023452X

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Adaptive Neural Network Control of Robotic Manipulators by Tong Heng Lee,Christopher John Harris Pdf

Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.

Author : Anonim
Publisher : Unknown
Page : 128 pages
File Size : 47,5 Mb
Release : 2024-06-03
Category : Electronic
ISBN : 9789814496223

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Adaptive Neural Network Control of Robotic Manipulators by Anonim Pdf

Author : Dan Zhang,Bin Wei
Publisher : CRC Press, Taylor & Francis Group, CRC Press is
Page : 0 pages
File Size : 54,5 Mb
Release : 2017
Category : Adaptive control systems
ISBN : 1498764878

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Adaptive Control for Robotic Manipulators by Dan Zhang,Bin Wei Pdf

Cover -- Half title -- Title Page -- Copyright page -- Table of Contents -- Preface -- 1: From MRAC to Learning-Based MPC: The Emerging Importance of Machine Learning for Control of Robot Manipulators -- 2: Discussion on Model Reference Adaptive Control of Robotic Manipulators -- 3: Data-Based Learning for Uncertain Robotic Systems -- 4: Reinforcement Learning of Robotic Manipulators -- 5: Adaptive Control for Multi-Fingered Robot Hands -- 6: Output Feedback Adaptive Control of Uncertain Dynamical Systems with Event-Triggering -- 7: Event Sampled Adaptive Control of Robot Manipulators and Mobile Robot Formations -- 8: Design, Integration and Analysis of a Hybrid Controller for Multi Degrees of Freedom Serial Mechanisms -- 9: Adaptive Control of Modular Ankle Exoskeletons in Neurologically Disabled Populations -- 10: Open Architecture High Value Added Robot Manufacturing Cells -- 11: The Adaptive Control Algorithm for Manipulators with Joint Flexibility -- 12: Unification of Bipedal Robotic Walking using Quadratic Program-based Control Lyapunov Function: Applications to Regulation of ZMP and Angular Momentum -- 13: Robust Adaptive Nonlinear Control for Robotic Manipulators with Flexible Joints -- 14: Adaptive Switching Iterative Learning Control of Robot Manipulator -- 15: Adaptive Robust Control Design for Robot Manipulators Based on Online Estimation of the Lumped Time-Varying Model Uncertainties -- 16: Evaluation of Microgenetic and Microimmune Algorithms for Solving Inverse Kinematics of Hyper-redundant Robotic Manipulators On-line -- Index

Author : Zhihua Qu,D. M. Dawson
Publisher : Institute of Electrical & Electronics Engineers(IEEE)
Page : 0 pages
File Size : 49,8 Mb
Release : 1996
Category : Robots
ISBN : 0780310659

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Robust Tracking Control of Robot Manipulators by Zhihua Qu,D. M. Dawson Pdf

Bringing together the latest research in the field, Robust Tracking Control of Robot Manipulators is the first book to provide systematic methods for stabilizing unwanted flexible, uncertain, and unmodeled dynamics. The authors present a thorough comparison of state-of-the-art and classical designs of all controls: linear or nonlinear (simple or complicated), conventional or robust, adaptive or learning. Focusing on control design and performance analysis, this book will help you to apply advanced controls effectively and to establish equivalent and different robustness. This book will be invaluable as a guide to researchers and practicing engineers in the field of robot control, automation, and robotic engineering. It will also serve as a useful reference for control of robot manipulators and mechanical-electrical systems.

Author : Habib, Maki
Publisher : IGI Global
Page : 532 pages
File Size : 46,9 Mb
Release : 2017-12-15
Category : Technology & Engineering
ISBN : 9781522529941

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Handbook of Research on Biomimetics and Biomedical Robotics by Habib, Maki Pdf

Biomimetic research is an emerging field that aims to draw inspiration and substances from natural sources and create biological systems in structure, mechanism, and function through robotics. The products have a wide array of application including surgical robots, prosthetics, neurosurgery, and biomedical image analysis. The Handbook of Research on Biomimetics and Biomedical Robotics provides emerging research on robotics, mechatronics, and the application of biomimetic design. While highlighting mechatronical challenges in today’s society, readers will find new opportunities and innovations in design capabilities in intelligent robotics and interdisciplinary biomedical products. This publication is a vital resource for senior and graduate students, researchers, and scientists in engineering seeking current research on best ways to globally expand online higher education.

Author : Fei Chen,Jose De Jesus Rubio,Mu-Yen Chen
Publisher : Frontiers Media SA
Page : 248 pages
File Size : 49,5 Mb
Release : 2023-01-20
Category : Science
ISBN : 9782832511916

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Neurorobotics explores machine learning by Fei Chen,Jose De Jesus Rubio,Mu-Yen Chen Pdf

Author : Pandian Vasant,Ivan Zelinka,Gerhard-Wilhelm Weber
Publisher : Springer Nature
Page : 693 pages
File Size : 50,7 Mb
Release : 2019-10-26
Category : Technology & Engineering
ISBN : 9783030335854

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Intelligent Computing and Optimization by Pandian Vasant,Ivan Zelinka,Gerhard-Wilhelm Weber Pdf

This book presents the outcomes of the second edition of the International Conference on Intelligent Computing and Optimization (ICO) – ICO 2019, which took place on October 3–4, 2019, in Koh Samui, Thailand. Bringing together research scholars, experts, and investigators from around the globe, the conference provided a platform to share novel research findings, recent advances and innovative applications in the field. Discussing the need for smart disciplinary processes embedded into interdisciplinary collaborations in the context of meeting the growing global populations’ requirements, such as food and health care, the book highlights the role of intelligent computation and optimization as key technologies in decision-making processes and in providing cutting edge solutions to real-world problems.

Author : Thor I. Fossen
Publisher : John Wiley & Sons
Page : 736 pages
File Size : 40,8 Mb
Release : 2021-03-22
Category : Science
ISBN : 9781119575047

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Handbook of Marine Craft Hydrodynamics and Motion Control by Thor I. Fossen Pdf

Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author’s home page: https://www.fossen.biz

Author : Pål Liljebäck,Kristin Ytterstad Pettersen,Øyvind Stavdahl,Jan Tommy Gravdahl
Publisher : Springer Science & Business Media
Page : 317 pages
File Size : 44,7 Mb
Release : 2012-06-13
Category : Technology & Engineering
ISBN : 9781447129967

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Snake Robots by Pål Liljebäck,Kristin Ytterstad Pettersen,Øyvind Stavdahl,Jan Tommy Gravdahl Pdf

Snake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or impossible. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Locomotion in unstructured environments is a focus for this book. The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the reader’s basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the field. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. The development of two snake robots is described and both are used to provide experimental validation of many of the theoretical results. Snake Robots is written in a clear and easily understandable manner which makes the material accessible by specialists in the field and non-experts alike. Numerous illustrative figures and images help readers to visualize the material. The book is particularly useful to new researchers taking on a topic related to snake robots because it provides an extensive overview of the snake robot literature and also represents a suitable starting point for research in this area.

Author : Institute of Electrical and Electronics Engineers
Publisher : Unknown
Page : 1274 pages
File Size : 47,6 Mb
Release : 1998
Category : Electric engineering
ISBN : UOM:39015051358862

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Index to IEEE Publications by Institute of Electrical and Electronics Engineers Pdf

Issues for 1973- cover the entire IEEE technical literature.

Author : Spandan Roy,Indra Narayan Kar
Publisher : Springer
Page : 0 pages
File Size : 51,5 Mb
Release : 2019-10-18
Category : Technology & Engineering
ISBN : 9811506396

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Adaptive-Robust Control with Limited Knowledge on Systems Dynamics by Spandan Roy,Indra Narayan Kar Pdf

The book investigates the role of artificial input delay in approximating unknown system dynamics, referred to as time-delayed control (TDC), and provides novel solutions to current design issues in TDC. Its central focus is on designing adaptive-switching gain-based robust control (ARC) for a class of Euler–Lagrange (EL) systems with minimal or no knowledge of the system dynamics parameters. The newly proposed TDC-based ARC tackles the commonly observed over- and under-estimation issues in switching gain. The consideration of EL systems lends a practical perspective on the proposed methods, and each chapter is supplemented by relevant experimental data. The book offers a unique resource for researchers in the areas of ARC and TDC alike, and covers the state of the art, new algorithms, and future directions.