0387985964

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Essays on Mathematical Robotics (The IMA Volumes in Mathematics and its Applications) (v. 104)
Author(s): N/A
ISBN: 0387985964 ISBN-13: 9780387985961

Format: Hardcover   Pages: 379 Edition: 1998   
Pub. Date: 1998-09-25 Publisher: Springer
List Price: $189.00

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Book Description

Essays on Mathematical Robotics (The IMA Volumes in Mathematics and its Applications) (v. 104)

The chapters in this book present an excellent exposition of recent developments in both robotics and nonlinear control centering around "hyper-redundancy", highly oscillatory inputs, optimal control, exterior differential systems, and the use of generic loops. The principal topics covered in the book are: adaptive control for a class of nonlinear systems, event-based motion planning, nonlinear control synthesis and path planning in robotics with special emphasis on nonholonomic and "hyper-redundant" robotic systems, control design and stabilization of driftless affine control systems (of the type arising in the kinematic control of nonholonomic robotic systems), control design methods for Hamiltonian systems and exterior differential systems. The chapter covering exterior differential systems contains a detailed introduction to the use of exterior differential methods, including the Goursat and extended Goursat normal forms and their application to path planning for nonholonomic systems.

 

 
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