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...