Lyapunov-based Control of Robotic Systems

Lyapunov-Based Control of Robotic Systems provides applications of advanced nonlinear Lyapunov-type design and stability analysis arguments for robotic control; vision-based control, estimation, and path planning; and human-machine interaction. Through a unified theoretical framework, this book illustrates how recent techniques can be used to solve a variety of current problems associated with sensor-based feedback control and path planning of robotic, automation, and human-machine systems. With numerous examples and references, this text also contains experimental results that demonstrate real-time implementation of control and path planning algorithms on experimental test beds.