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Record Nr. |
UNINA9910136145003321 |
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Autore |
Vepa Ranjan |
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Titolo |
Nonlinear control of robots and unmanned aerial vehicles : an integrated approach / / Ranjan Vepa |
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Pubbl/distr/stampa |
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Boca Raton : , : Taylor & Francis, a CRC title, part of the Taylor & Francis imprint, a member of the Taylor & Francis Group, the academic division of T&F Informa, plc, , [2017] |
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©2017 |
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ISBN |
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1-315-36737-8 |
1-4987-6705-2 |
1-315-35030-0 |
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Edizione |
[1st ed.] |
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Descrizione fisica |
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1 online resource (563 pages) : illustrations |
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Disciplina |
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Soggetti |
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Drone aircraft - Automatic control - Mathematics |
Robots - Control systems |
Nonlinear control theory |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Nota di bibliografia |
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Includes bibliographical references and index. |
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Nota di contenuto |
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1. Lagrangian methods and robot dynamics -- 2. Unmanned aerial vehicle dynamics and Lagrangian methods -- 3. Feedback linearization -- 4. Linear and phase plane analysis of stability -- 5. Robot and UAV control : an overview -- 6. Stability -- 7. Lyapunov stability -- 8. Computed torque control -- 9. Sliding mode control -- 10. Parameter identification -- 11. Adaptive and model predictive control -- 12. Lyapunov design : the backstepping approach -- 13. Hybrid position and force control -- 14. UAV control. |
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Sommario/riassunto |
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Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and |
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