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About this book

This monograph addresses problems of:
• nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups.
The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.

Table of Contents

Frontmatter

2018 | OriginalPaper | Chapter

Chapter 1. Rigid-Link Manipulators: Model-Based Control

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 2. Underactuated Robotic Manipulators

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 3. Rigid-Link Manipulators: Model-Free Control

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 4. Closed-Chain Robotic Systems and Mechanisms

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 5. Flexible-Link Robots

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 6. Micro-manipulators

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 7. Unicycles and Two-Wheel Autonomous Ground Vehicles

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 8. Four-Wheel Autonomous Ground Vehicles

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 9. Unmanned Aerial Vehicles

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 10. Unmanned Surface Vessels

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 11. Autonomous Underwater Vessels

Gerasimos Rigatos, Krishna Busawon

2018 | OriginalPaper | Chapter

Chapter 12. Cooperating Autonomous Vehicles

Gerasimos Rigatos, Krishna Busawon

Backmatter

Additional information