Lyapunov-Based Control of Robotic Systems

ISBN: 9780367452421 出版年：2009 页码：390 Behal, Aman Dixon, Warren Dawson, Darren M CRC Press

Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov's direc