Ebook: Progress in system and robot analysis and control design

The fields of control and robotics are now at an advanced level of maturity both in theory and practice. Numerous systems are used effectively in industrial production and other sectors of modern life. This volume contains a well-balanced collection of over fifty papers focusing on analysis and design problems. The current trends and advances in the fields are reflected. Topics covered include: system analysis, identification and stability optimal, adaptive, robust and QFT controller design design and application of driving simulators industrial robots and telemanipulators mobile, service, and legged robots virtual reality in robotics The book brings together important original results derived from a variety of academic and engineering environments. Also, it serves as a timely reference volume for the researcher and practitioner.

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The fields of control and robotics are now at an advanced level of maturity both in theory and practice. Numerous systems are used effectively in industrial production and other sectors of modern life. This volume contains a well-balanced collection of over fifty papers focusing on analysis and design problems. The current trends and advances in the fields are reflected. Topics covered include: system analysis, identification and stability optimal, adaptive, robust and QFT controller design design and application of driving simulators industrial robots and telemanipulators mobile, service, and legged robots virtual reality in robotics The book brings together important original results derived from a variety of academic and engineering environments. Also, it serves as a timely reference volume for the researcher and practitioner.

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The fields of control and robotics are now at an advanced level of maturity both in theory and practice. Numerous systems are used effectively in industrial production and other sectors of modern life. This volume contains a well-balanced collection of over fifty papers focusing on analysis and design problems. The current trends and advances in the fields are reflected. Topics covered include: system analysis, identification and stability optimal, adaptive, robust and QFT controller design design and application of driving simulators industrial robots and telemanipulators mobile, service, and legged robots virtual reality in robotics The book brings together important original results derived from a variety of academic and engineering environments. Also, it serves as a timely reference volume for the researcher and practitioner.
Content:
Front Matter....Pages -
Weakly positive continuous-time linear systems....Pages 3-16
Harmonic analysis of linear sampled-data systems....Pages 17-28
Singular value properties of the discrete-time LQ optimal regulator....Pages 29-40
Identification of non-minimum phase finite impulse response systems using the fourth-order cumulants....Pages 41-50
A robust frequency domain identification method revisited: Application in steel casting....Pages 51-62
Fault detection in flight control systems via innovation sequence of kalman filter....Pages 63-74
Analysis of properties of multitime-scale systems in 2D approach....Pages 75-86
Bridging the gap....Pages 89-106
Control system design using global optimization techniques....Pages 107-116
An optimal model-following problem for linear systems....Pages 117-126
Optimal control of time-varying dynamic systems....Pages 127-136
Response optimization of a discrete-time bang-bang optimal control problem....Pages 137-146
Adaptive LQ optimal autopilots for tankers based on two-point multirate controllers....Pages 147-158
Design of adaptive LQ optimal trackers based on multirate sampling of the plant output....Pages 159-170
Control of an automaton using uncertain information....Pages 171-182
Learning processes and logic-algebraic method in knowledge-based control systems....Pages 183-194
A practical approach to motion control for varying inertia systems....Pages 195-204
Iterative model based H2/H? synthesis for active suspension system....Pages 205-216
A matlab-based user-friendly graphical environment for control system analysis and design (COSAD)....Pages 217-235
Smith predictor for uncertain systems in the QFT framework....Pages 239-250
Nonlinear QFT Based on Local Linearization....Pages 251-262
Frequency domain control structure design tools....Pages 263-276
Quantitative pressure controller design for a gas recovery system....Pages 277-286
Driving simulators as research and training tools for improving road safety....Pages 289-300
Critical judgements on feasible emergency manoeuvres: A comparative study between test track and driving simulator....Pages 301-308
A historical perspective of the use of driving simulators in road safety research....Pages 309-320
Multimodal driving simulation in realistic urban environments....Pages 321-332
An architecture for optimal management of the traffic simulation complexity in a driving simulator....Pages 333-342
Software challenges for high fidelity driving simulators....Pages 343-352
Trends in robot control: Autonomous behavior and remote control — the VR contribution....Pages 355-380
Robust control of a non-holonomic underactuated SCARA robot....Pages 381-396
Kinesthetic feedback on the human hand interacting with virtual environments....Pages 397-422
Modular robotics design: System integration of a robot for disabled people....Pages 423-434
Design of an active arm support for assisting arm movements....Pages 435-444
Enhancement of a telemanipulator design with a human arm model....Pages 445-456
H? robust control system design for a 3-DOF robot manipulator....Pages 457-464
Response optimization of a nonlinear controlled flexible robot arm carrying a variable mass....Pages 465-476
Development of an application platform for mobile robots....Pages 479-493
A framework for the integration of perception and localization systems over mobile platforms....Pages 495-504
Creating dynamic mobile robot environments from an intelligent building....Pages 505-514
Robot path planning using models of fluid mechanics....Pages 515-524
Motion planning of mobile robots under a control constraint....Pages 525-536
Obstacle detection and decision making for intelligent mobile robot....Pages 537-546
Dynamic control for an holonomic omnidirectional mobile manipulator....Pages 547-558
Intelligent control of an extension-cableless robotic unicycle: A study of mechanical controllabilty via minimum entropy....Pages 559-570
About one way of increasing stability of climbing robots....Pages 571-584
Back Matter....Pages -

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The fields of control and robotics are now at an advanced level of maturity both in theory and practice. Numerous systems are used effectively in industrial production and other sectors of modern life. This volume contains a well-balanced collection of over fifty papers focusing on analysis and design problems. The current trends and advances in the fields are reflected. Topics covered include: system analysis, identification and stability optimal, adaptive, robust and QFT controller design design and application of driving simulators industrial robots and telemanipulators mobile, service, and legged robots virtual reality in robotics The book brings together important original results derived from a variety of academic and engineering environments. Also, it serves as a timely reference volume for the researcher and practitioner.
Content:
Front Matter....Pages -
Weakly positive continuous-time linear systems....Pages 3-16
Harmonic analysis of linear sampled-data systems....Pages 17-28
Singular value properties of the discrete-time LQ optimal regulator....Pages 29-40
Identification of non-minimum phase finite impulse response systems using the fourth-order cumulants....Pages 41-50
A robust frequency domain identification method revisited: Application in steel casting....Pages 51-62
Fault detection in flight control systems via innovation sequence of kalman filter....Pages 63-74
Analysis of properties of multitime-scale systems in 2D approach....Pages 75-86
Bridging the gap....Pages 89-106
Control system design using global optimization techniques....Pages 107-116
An optimal model-following problem for linear systems....Pages 117-126
Optimal control of time-varying dynamic systems....Pages 127-136
Response optimization of a discrete-time bang-bang optimal control problem....Pages 137-146
Adaptive LQ optimal autopilots for tankers based on two-point multirate controllers....Pages 147-158
Design of adaptive LQ optimal trackers based on multirate sampling of the plant output....Pages 159-170
Control of an automaton using uncertain information....Pages 171-182
Learning processes and logic-algebraic method in knowledge-based control systems....Pages 183-194
A practical approach to motion control for varying inertia systems....Pages 195-204
Iterative model based H2/H? synthesis for active suspension system....Pages 205-216
A matlab-based user-friendly graphical environment for control system analysis and design (COSAD)....Pages 217-235
Smith predictor for uncertain systems in the QFT framework....Pages 239-250
Nonlinear QFT Based on Local Linearization....Pages 251-262
Frequency domain control structure design tools....Pages 263-276
Quantitative pressure controller design for a gas recovery system....Pages 277-286
Driving simulators as research and training tools for improving road safety....Pages 289-300
Critical judgements on feasible emergency manoeuvres: A comparative study between test track and driving simulator....Pages 301-308
A historical perspective of the use of driving simulators in road safety research....Pages 309-320
Multimodal driving simulation in realistic urban environments....Pages 321-332
An architecture for optimal management of the traffic simulation complexity in a driving simulator....Pages 333-342
Software challenges for high fidelity driving simulators....Pages 343-352
Trends in robot control: Autonomous behavior and remote control — the VR contribution....Pages 355-380
Robust control of a non-holonomic underactuated SCARA robot....Pages 381-396
Kinesthetic feedback on the human hand interacting with virtual environments....Pages 397-422
Modular robotics design: System integration of a robot for disabled people....Pages 423-434
Design of an active arm support for assisting arm movements....Pages 435-444
Enhancement of a telemanipulator design with a human arm model....Pages 445-456
H? robust control system design for a 3-DOF robot manipulator....Pages 457-464
Response optimization of a nonlinear controlled flexible robot arm carrying a variable mass....Pages 465-476
Development of an application platform for mobile robots....Pages 479-493
A framework for the integration of perception and localization systems over mobile platforms....Pages 495-504
Creating dynamic mobile robot environments from an intelligent building....Pages 505-514
Robot path planning using models of fluid mechanics....Pages 515-524
Motion planning of mobile robots under a control constraint....Pages 525-536
Obstacle detection and decision making for intelligent mobile robot....Pages 537-546
Dynamic control for an holonomic omnidirectional mobile manipulator....Pages 547-558
Intelligent control of an extension-cableless robotic unicycle: A study of mechanical controllabilty via minimum entropy....Pages 559-570
About one way of increasing stability of climbing robots....Pages 571-584
Back Matter....Pages -
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