Robust Control of Robots Fault Tolerant Approaches /

• Main Authors: Siqueira, Adriano A. G. (Author), Terra, Marco H. (Author), Bergerman, Marcel (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: London : Springer London, 2011.
• Subjects: Engineering.; Artificial intelligence.; Control engineering.; Robotics.; Mechatronics.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).

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 contr...

Table of Contents:

• 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.