1st Edition

Lyapunov-Based Control of Robotic Systems

    389 Pages 141 B/W Illustrations
    by CRC Press

    389 Pages 141 B/W Illustrations
    by CRC Press

    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 direct method as an effective tool to design and analyze controllers for robotic systems.

    After describing the evolution of real-time control design systems and the associated operating environments and hardware platforms, the book presents a host of standard control design tools for robotic systems using a common Lyapunov-based framework. It then discusses several problems in visual servoing control, including the design of homography-based visual servo control methods and the classic structure from motion problem. The book also deals with the issues of path planning and control for manipulator arms and wheeled mobile robots. With a focus on the emerging research area of human machine interaction, the final chapter illustrates the design of control schemes based on passivity such that the machine is a net energy sink.

    Including much of the authors’ own research work in controls and robotics, this book facilitates an understanding of the application of Lyapunov-based control design techniques to up-and-coming problems in robotics.


    History of Robotics

    Lyapunov-Based Control Philosophy

    The Real-Time Computer Revolution

    Robot Control


    Modeling and Control Objective

    Computed Torque Control Approaches

    Adaptive Control Design

    Task-Space Control and Redundancy

    Vision-Based Systems


    Monocular Image-Based Geometry

    Visual Servo Tracking

    Continuum Robots

    Mobile Robot Regulation and Tracking

    Structure from Motion

    Path Planning and Control


    Velocity Field and Navigation Function Control for Manipulators

    Velocity Field and Navigation Function Control for WMRs

    Vision Navigation

    Optimal Navigation and Obstacle Avoidance

    Human Machine Interaction


    Exercise Machine


    Robot Teleoperation

    Rehabilitation Robot

    Appendix A: Mathematical Background

    Appendix B: Supplementary Lemmas and Expressions


    References appear at the end of each chapter.


    Aman Behal is an assistant professor in the School of Electrical Engineering and Computer Science and the NanoScience Technology Center at the University of Central Florida.

    Warren Dixon is an associate professor and director of the Nonlinear Controls and Robotics group in the Department of Mechanical and Aerospace Engineering at the University of Florida.

    Darren M. Dawson is McQueen Quattlebaum Professor and chair of the Holcombe Department of Electrical and Computer Engineering at Clemson University.

    Bin Xian is a professor in the School of Electrical Engineering and Automation at Tianjin University.