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Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov s direct method as an effective tool to design and analyze controllers for robotic systems.

After describing the evolution of real-time control design systems and the associated operating environments and hardware...

Recent advancements in Lyapunov-based design and analysis techniques have applications to a broad class of engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems. This book provides a practical yet rigorous development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.

Features include:

* Control designs for a broad class of engineering...

This story of Faustian bargains happened in Paris in the 1950s. Using any means necessary to get to the top with her talent, Kathleen Ingersoll reached the far edge of possibility as a classical pianist. With the higher music establishment in the background, her story is neither about music nor about Paris. It is about a woman and the cost of extreme ambition, about love and other dangers, and about time and the river.

Events on streets and in neighborhoods that were never in Paris are in this book the same way that Poe's murders happened in the Rue Morgue. Persons who existed...

This story of Faustian bargains happened in Paris in the 1950s. Using any means necessary to get to the top with her talent, Kathleen Ingersoll reached the far edge of possibility as a classical pianist. With the higher music establishment in the background, her story is neither about music nor about Paris. It is about a woman and the cost of extreme ambition, about love and other dangers, and about time and the river.

Events on streets and in neighborhoods that were never in Paris are in this book the same way that Poe's murders happened in the Rue Morgue. Persons who existed...

This practical yet rigorous book provides a development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.