Progress in System and Robot Analysis and Control Design

ISBN-13: 9781852331238 / Angielski / Miękka / 1999 / 591 str.

S. G. Tzafestas; Gunther Schmidt; G. Schmidt

Opis

The fields of control and robotics are now at an advanced level of maturity both in theory and practice. Numerous systems are used effectively in industrial production and other sectors of modern life. This volume contains a well-balanced collection of over fifty papers focusing on analysis and design problems. The current trends and advances in the fields are reflected. Topics covered include: system analysis, identification and stability optimal, adaptive, robust and QFT controller design design and application of driving simulators industrial robots and telemanipulators mobile, service, and legged robots virtual reality in robotics The book brings together important original results derived from a variety of academic and engineering environments. Also, it serves as a timely reference volume for the researcher and practitioner.

Spis treści

Weakly positive continuous-time linear systems.- Harmonic analysis of linear sampled-data systems.- Singular value properties of the discrete-time LQ optimal regulator.- Identification of non-minimum phase finite impulse response systems using the fourth-order cumulants.- A robust frequency domain identification method revisited: Application in steel casting.- Fault detection in flight control systems via innovation sequence of kalman filter.- Analysis of properties of multitime-scale systems in 2D approach.- Bridging the gap.- Control system design using global optimization techniques.- An optimal model-following problem for linear systems.- Optimal control of time-varying dynamic systems.- Response optimization of a discrete-time bang-bang optimal control problem.- Adaptive LQ optimal autopilots for tankers based on two-point multirate controllers.- Design of adaptive LQ optimal trackers based on multirate sampling of the plant output.- Control of an automaton using uncertain information.- Learning processes and logic-algebraic method in knowledge-based control systems.- A practical approach to motion control for varying inertia systems.- Iterative model based H2/H? synthesis for active suspension system.- A matlab-based user-friendly graphical environment for control system analysis and design (COSAD).- Smith predictor for uncertain systems in the QFT framework.- Nonlinear QFT Based on Local Linearization.- Frequency domain control structure design tools.- Quantitative pressure controller design for a gas recovery system.- Driving simulators as research and training tools for improving road safety.- Critical judgements on feasible emergency manoeuvres: A comparative study between test track and driving simulator.- A historical perspective of the use of driving simulators in road safety research.- Multimodal driving simulation in realistic urban environments.- An architecture for optimal management of the traffic simulation complexity in a driving simulator.- Software challenges for high fidelity driving simulators.- Trends in robot control: Autonomous behavior and remote control — the VR contribution.- Robust control of a non-holonomic underactuated SCARA robot.- Kinesthetic feedback on the human hand interacting with virtual environments.- Modular robotics design: System integration of a robot for disabled people.- Design of an active arm support for assisting arm movements.- Enhancement of a telemanipulator design with a human arm model.- H? robust control system design for a 3-DOF robot manipulator.- Response optimization of a nonlinear controlled flexible robot arm carrying a variable mass.- Development of an application platform for mobile robots.- A framework for the integration of perception and localization systems over mobile platforms.- Creating dynamic mobile robot environments from an intelligent building.- Robot path planning using models of fluid mechanics.- Motion planning of mobile robots under a control constraint.- Obstacle detection and decision making for intelligent mobile robot.- Dynamic control for an holonomic omnidirectional mobile manipulator.- Intelligent control of an extension-cableless robotic unicycle: A study of mechanical controllabilty via minimum entropy.- About one way of increasing stability of climbing robots.