Lyapunov-Based Control of Robotic Systems

By: Aman Behal, Warren Dixon, Darren M. Dawson, Bin Xian

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eText | 17 December 2009 | Edition Number 1

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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 direc