This book provides detailed fundamental theoretical reviews and preparations necessary for developing advanced dynamics modeling and control strategies for various types of robotic systems.
This research book specifically addresses and discusses the uniqueness issue of representing orientation or rotation, and further proposes an innovative isometric embedding approach. The novel approach can not only reduce the dynamic formulation for robotic systems into a compact form, but it also offers a new way to realize the orientational trajectory-tracking control procedures.
In addition, the book gives a comprehensive introduction to fundamentals of mathematics and physics that are required for modeling robot dynamics and developing effective control algorithms. Many computer simulations and realistic 3D animations to verify the new theories and algorithms are included in the book as well. It also presents and discusses the principle of duality involved in robot kinematics, statics, and dynamics.
The duality principle can guide the dynamics modeling and analysis into a right direction for a variety of robotic systems in different types from open serial-chain to closed parallel-chain mechanisms. It intends to serve as a diversified research reference to a wide range of audience, including undergraduate juniors and seniors, graduate students, researchers, and engineers interested in the areas of robotics, control and applications. Covers recent methods in system identification and optimal, digital, adaptive, robust, and fuzzy control, as well as stability, controllability, observability, pole placement, state observers, input-output decoupling, and model matching.
The book represents a modern treatment of classical control theory and application concepts. Theoretically, it is based on the state-space approach, where the main concepts have been derived using only the knowledge from a first course in linear algebra. Practically, it is based on the MATLAB package for computer-aided control system design, so that the presentation of the design techniques is simplified.
The inclusion of MATLAB allows deeper insights into the dynamical behaviour of real physical control systems, which are quite often of high dimensions. Continuous-time and discrete-time control systems are treated simultaneously with a slight emphasis on the continous-time systems, especially in the area of controller design. Instructor's Manual The emphasis is on the computation of the controller parameters and reliable implementation.
The authors present recent studies showing that the simplified skew-Toeplitz method is applicable to a wide class of systems, supply detailed examples from systems with time delays and various engineering applications, and discuss reliable implementation of the controller, complemented by a software based on MATLAB.
This book provides the reader with a complete coverage of radio resource management for 3G wireless communications Systems Engineering in Wireless Communications focuses on the area of radio resource management in third generation wireless communication systems from a systems engineering perspective. The authors provide an introduction into cellular radio systems as well as a review of radio resource management issues. Additionally, a detailed discussion of power control, handover, admission control, smart antennas, joint optimization of different radio resources , and cognitive radio networksis offered.
This book differs from books currently available, with its emphasis on the dynamical issues arising from mobile nodes in the network. Well-known control techniques, such as least squares estimation, PID control, Kalman filers, adaptive control, and fuzzy logic are used throughout the book. Taking the Laplace transform using the initial conditions yields 1. The corresponding block diagram is shown in Figure P2.
Finally, Tm TL. The real and complex roots are close together and by looking at the poles in the s-plane we. However, the residue at the real pole is much larger and thus dominates the response.
The real root dominates the response. Consider the free body diagram in Figure P2. The system is now decoupled. Gc s G s d s Since we require H s to be a causal system, the order of the numerator polynomial, n s , must be less than or equal to the order of the denominator polynomial, d s.
This will be true, in general, only if both Gc s and G s are proper rational functions that is, the numerator and denominator polynomials have the same order. Considering the pendulum we obtain m. Figure AP2.
Minorsky Philip G. Zimbardo Philip Kotler Philip T. Kotler Phillip Pfeifer R. Glenn Hubbard R. Hal Williams Randall D. Knight Rebecca J. Donatelle Richard Janaro Richard L. Allington Robert A.
Divine Robert A. Blitzer Robert F. Bush Ronald J. Harshbarger Ronald W. Toseland Sallie A. Marston Scott B. Smart Scott K. Powers Seyhmus Baloglu Sharon J. Gerson Stephen L. Dodd Stephen P. Reid Stephen P. Robbins Stephen Perez Stephen R. Mandell Steven A. Wasserman Steven Barnes Steven M. Dye Vincent Del Casino Jr. Frequency and time-domain methods include robust control design and an introduction to digital control systems.
New to This Edition. Modern Control Systems offers the following features to facilitate learning: Topics and activities introduce students to the exciting and challenging field of control engineering Activities and Curriculum teach future engineers the importance of green technology design and how it minimizes pollution and improves the environment. Table of Contents 1. Introduction to Control Systems 2. Mathematical Models of Systems 3. State Variable Models 4.
Feedback Control System Characteristics 5. The Performance of Feedback Control Systems 6. The Stability of Linear Feedback Systems 7. The Root Locus Method 8. Frequency Response Methods 9. Stability in the Frequency Domain The Design of Feedback Control Systems Robust Control Systems Digital Control Systems.
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