Lyapunov-Based Control of Robotic Systems

This work describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. The authors use Lyapunov's direct method as an effective tool to design and analyze controllers for robotic systems and include numerous examples that illustrate how this method addresses advanced robotics research problems. After providing a historical perspective of robotics and a review of standard robot control approaches, the book presents real-time computing and experimental test beds for implementing developed controllers. It also explores sensor-based feedback path planning, navigation, and control.

Aman Behal is an assistant professor in the School of Electrical Engineering and Computer Science and the NanoScience Technology Center at the University of Central Florida. Warren Dixon is an associate professor and director of the Nonlinear Controls and Robotics group in the Department of Mechanical and Aerospace Engineering at the University of Florida. Darren M. Dawson is McQueen Quattlebaum Professor and chair of the Holcombe Department of Electrical and Computer Engineering at Clemson University. Bin Xian is a professor in the School of Electrical Engineering and Automation at Tianjin University.

Introduction. Robot Control. Vision-Based Systems. Path Planning and Control. Human Machine Interaction. Appendices. Index.