Intro; Foreword; Preface; Acknowledgements; Contents; Abbreviations; 1 Rigid-Link Manipulators: Model-Based Control; 1.1 Chapter Overview; 1.2 Kinematics and Dynamics of Rigid-Link Multi-DOF Manipulators; 1.2.1 Outline; 1.2.2 Dynamic Analysis of Rigid Link Robots; 1.2.3 Kinematic Analysis of Rigid Link Robots; 1.3 Model-Based Control of Rigid-Link Manipulators …; 1.3.1 Outline; 1.3.2 Differential Flatness Theory; 1.3.3 Differential Flatness for MIMO Nonlinear Dynamical Systems; 1.3.4 Global Linearization of a 2-DOF Robotic Manipulator; 1.3.5 Simulation Tests

1.4 Model-Based Control of Rigid-Link Manipulators …1.4.1 Outline; 1.4.2 Dynamic Model of the Multi-DOF Robotic System; 1.4.3 Approximate Linearization of the Robot's Dynamics; 1.4.4 Design of an H-Infinity Nonlinear Feedback Controller; 1.4.5 Computation of the Feedback Control Gains for the Approximately Linearized Robot; 1.4.6 Riccati Equation Coefficients in Controller's Robustness; 1.4.7 Lyapunov Stability Analysis; 1.4.8 Simulation Tests; 1.5 Model-Based Control of Rigid-Link Manipulators Under Time-Delays; 1.5.1 Outline; 1.5.2 State-Space Description of the Robotic Manipulator

1.5.3 Control of the Robotic Manipulator Under Known Time Delays1.5.4 Differential Flatness of the Robot's Model; 1.5.5 Control of the Robot Under Unknown Time Delays; 1.5.6 Simulation Tests; 2 Underactuated Robotic Manipulators; 2.1 Chapter Overview; 2.2 Nonlinear Optimal Control for Multi-DOF Underactuated Overhead Cranes; 2.2.1 Outline; 2.2.2 Dynamic Model of the Crane; 2.2.3 Approximate Linearization of the Crane's Model; 2.2.4 Design of an H-Infinity Nonlinear Feedback Controller; 2.2.5 Lyapunov Stability Analysis

2.2.6 Robust State Estimation with the Use of the H-Infinity Kalman Filter2.2.7 Simulation Tests; 2.3 A Nonlinear Optimal Control Approach for Precise Functioning …; 2.3.1 Outline; 2.3.2 Dynamic Model of the Payload's Positioning System; 2.3.3 Approximate Linearization of the Payload's Positioning System; 2.3.4 Design of an H-Infinity Nonlinear Feedback Controller; 2.3.5 The Nonlinear H-Infinity Control; 2.3.6 Lyapunov Stability Analysis; 2.3.7 Robust State Estimation with the Use of the Hinfty Kalman Filter; 2.3.8 Simulation Tests; 2.4 Nonlinear H-Infinity Control for Underactuated …

2.4.1 Outline2.4.2 Dynamic Model of Furuta's Penulum; 2.4.3 Design of an H-Infinity Nonlinear Feedback Controller; 2.4.4 Lyapunov Stability Analysis; 2.4.5 Robust State Estimation with the Use of the H-Infinity Kalman Filter; 2.4.6 Simulation Tests; 2.5 A Nonlinear Optimal Control Approach …; 2.5.1 Outline; 2.5.2 Dynamic Model of the Cart and Double-Pendulum System; 2.5.3 Approximate Linearization of the Cart and Double-Pendulum System; 2.5.4 Design of an H-Infinity Nonlinear Feedback Controller; 2.5.5 Lyapunov Stability Analysis