By Anuradha M. Annaswamy, Mandayam A. Srinivasan (auth.), John Baillieul, Shankar S. Sastry, Hector J. Sussmann (eds.)
The chapters during this e-book current an outstanding exposition of modern advancements in either robotics and nonlinear keep an eye on centering round "hyper-redundancy", hugely oscillatory inputs, optimum regulate, external differential platforms, and using standard loops. The relevant themes coated within the e-book are: adaptive keep an eye on for a category of nonlinear platforms, event-based movement making plans, nonlinear keep watch over synthesis and direction making plans in robotics with unique emphasis on nonholonomic and "hyper-redundant" robot platforms, regulate layout and stabilization of driftless affine keep watch over platforms (of the sort coming up within the kinematic regulate of nonholonomic robot systems), keep an eye on layout equipment for Hamiltonian structures and external differential platforms. The bankruptcy protecting external differential platforms includes a exact creation to using external differential tools, together with the Goursat and prolonged Goursat common types and their software to course making plans for nonholonomic platforms.