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Table Of Contents

Introduction
Preliminaries
2.1 Introduction
2.2 Vector Spaces
2.2.1 Metric space
2.2.2 Normed vector space
2.3 Best Approximation Problem in Hilbert Space
2.4 Orthogonal Functions
2.5 Vector and Matrix Analysis
2.5.1 Properties of matrices
2.5.2 Differential calculus of vectors and matrices
2.6 Various Norms
2.6.1 Vector norms
2.6.2 Matrix norms
2.6.3 Function norms and normed function spaces
2.7 Representations for Approximation
2.8 Lyapunov Stability Theory
2.8.1 Concepts of stability
2.8.2 Lyapunov stability theorem
2.9 Sliding Control
2.10 Model Reference Adaptive Control (MRAC)
2.10.1 MRAC of LTI scalar systems
2.10.2 MRAC of LTI systems: vector case
2.10.3 Persistent excitation
2.10.4 Robust adaptive control
2.11 General Uncertainties
2.11.1 MRAC of LTV systems
2.12 FAT-Based Adaptive Controller Design
Dynamic Equations for Robot Manipulators
3.1 Introduction
3.3 Rigid Robot Interacting with Environment (RRE)
3.4 Electrically-Driven Rigid Robot (EDRR)
3.5 Electrically-Driven Rigid Robot Interacting with Environment
3.6 Flexible Joint Robot (FJR)
3.7 Flexible-Joint Robot Interacting with Environment (FJRE)
3.8 Electrically-Driven Flexible Joint Robot (EDFJR)
environment
Adaptive Control of Rigid Robots
4.1 Introduction
4.2 Review of Conventional Adaptive Control for Rigid Robots
4.3 Slotine and Li’s Approach
4.5 FAT-Based Adaptive Controller Design
4.6 Consideration of Actuator Dynamics
4.6.1 Regressor-based adaptive control
regressor-free adaptive controller
4.6.2 Regressor-free adaptive control
Adaptive Impedance Control of Rigid Robots
5.1 Introduction
5.2 Impedance Control and Adaptive Impedance Control
5.3 Regressor-Based Adaptive Impedance Controller Design
5.4 FAT-Based Adaptive Impedance Controller Design
5.5 Consideration of Actuator Dynamics
5.5.1 Regressor-based adaptive controller
5.5.2 Regressor-free adaptive controller
Adaptive Control of Flexible-Joint Robots
6.1 Introduction
6.2 Control of Known Flexible-Joint Robots
6.3 Regressor-Based Adaptive Control of Flexible-Joint Robots
6.4 FAT-Based Adaptive Control of Flexible-Joint Robots
6.5 Consideration of Actuator Dynamics
6.5.1 Regressor-based adaptive controller design
6.5.2 Regressor-free adaptive controller design
7.1 Introduction
7.2 Impedance Control of Known Flexible-Joint Robots
7.5 Consideration of Actuator Dynamics
7.5.1 Regressor-based adaptive controller design
7.5.2 Regressor-free adaptive controller design
Appendix
References
Symbols, Definitions and Abbreviations
Index
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9814307416

9814307416

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Published by: Gyu Bot on Jan 10, 2013
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