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Robust Stability of Interval Lur’e Systems: A Bilinear Matrix Inequality Approach
This paper provides a sufficient condition for an interval Lur’e system to be globally exponentially stable with a dam** factor. The Lur’e system...
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6 Conclusion
Controllable underactuated manipulators were successfully developed based on the nonlinear control theoretic approach. The nonholonomic gear is...
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4 Design of the chained form manipulator
Nonholonomic underactuated systems are typically modelled as highly nonlinear ones, which becomes obvious as the dimension of the system increases....
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Model-Based Friction Compensation
Compensation of nonlinear friction terms is a most challenging application of high resolution encoders, which are nowadays getting available for...
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Adaptive Robust Fuzzy Tracking Control for a Class of Nonlinear Systems
The tracking control problem for a class of nonlinear systems with uncertain system function and uncertain gain function, which are the unstructured...
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Measuring and Improving Performance in Anti-Windup Laws for Robot Manipulators
In this chapter we provide a high performance solution to the anti-windup problem for control systems of robot manipulators undergoing actuator...
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Thresholding Segmentation and Classification in Automated Ultrasonic Testing Image of Electrical Contact
This paper is concerned with the thresholding segmentation of ultrasonic C-scan image for defect with artificial intelligence and support vector...
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3-D Grasp Analysis and Synthesis Using the Ray-Shooting Technique
The ray-shooting technique is a powerful tool for handling geometric information in Computational Geometry and Computer Graphics. This chapter...
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3 Prototy** and control of the nonholonomic manipulator
Since a nonholonomic manipulator was theoretically designed from the viewpoint of kinematic constraints and nonlinear control, mechanical...
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Introduction
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Appendix D: Image Processing Implementation on DSP
This appendix describes the basic elements of the implemented image processing software on the DSP-C40 (digital signal processor).
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Framework
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Learning Behavioral Sequences by Means of Nonlinear Dynamics
We present a software architecture for the behavioral organization of a mobile robot which is entirely based on nonlinear dynamical systems. The...
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Dependability of Mobile Robots in Direct Interaction with Humans
Operating interactive mobile robots in unmodified natural environments such as in museums or at exposition areas impose requirements on the robots,...
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The Robotic Bar – An Integrated Demonstration of a Robotic Assistant
Coming out of the labs, the first robots are currently appearing on the consumer market. Initially they target rather simple application scenarios...
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4. How to Decide and Act? Use Intelligent Systems and Control Techniques
In robot soccer, the game situation in the playground is typically read in terms of the robots’ postures and the ball’s position. Using real-time...
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On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles
In this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown...