Titlebook: Robotic Manipulators and Vehicles; Control, Estimation Gerasimos Rigatos,Krishna Busawon Book 2018 Springer International Publishing AG, p

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Underactuated Robotic Manipulators,ent of a limited number of the robot’s state variables, nonlinear filtering methods of proven convergence are developed. In particular the chapter develops the following topics: (a) Nonlinear optimal control for multi-DOF underactuated overhead cranes, (b) Nonlinear optimal control for ship-mounted

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Rigid-Link Manipulators: Model-Free Control,tability is proven for the control loop that comprises both the nonlinear controller of the robot’s dynamics and nonlinear observers that estimate the robot’s state vector from indirect measurements. In particular, the chapter develops the following topics: (a) Model-free adaptive control of?rigid-l

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Closed-Chain Robotic Systems and Mechanisms,ontrol based on Lyapunov methods. Besides to apply model-free control for such a type of robotic manipulators, online estimation algorithms of the unknown dynamics of the robot can be considered once again. The global asymptotic stability of the control based on the real-time estimation of the robot

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Unmanned Aerial Vehicles,ve and thus the global stability of the control loop is assured. The latter approach is particularly suitable for model-free control of UAVs and takes the form of adaptive control methods. This chapter analyzes the aforementioned control approaches for UAVs and proves global asymptotic stability for

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Unmanned Surface Vessels,ed surface vessels. Solution to the associated control problem is provided through (i) global linearization methods, (ii) approximate linearization methods and (iii) Lyapunov methods. To solve the control problem for unmanned surface vessels without prior knowledge of the associated dynamic model, e

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Autonomous Underwater Vessels,ods (ii) approximate linearization methods and (iii) Lyapunov methods. The solution of the control problem requires a more elaborated procedure when the AUVs’ dynamic model is underactuated. which means that the number of actuators included in its propulsion system is less than the number of its deg