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Table Of Contents

Introduction
1.1 Formulation of the tracking control problem
1.2 Non-holonomic systems
1.3 Outline of the thesis
2.1 Mathematical preliminaries
2.2 Lyapunov stability
2.3 Linear time-varying systems
2.4 Cascaded systems
2.5 Backstepping
A cascaded approach to tracking
Introduction to Part I
3.1 Cascaded design
3.2 An introductory example: tracking of a rotating rigid body
Tracking of a mobile robot
4.1 Introduction
4.2 State-feedback
4.2.1 Previous results
4.2.2 A cascaded design
4.3 Dynamic output-feedback
4.3.1 UnmeasuredÜ
4.3.2 UnmeasuredÝ
4.4 Saturated control
4.4.1 A Lyapunov design
4.4.2 A cascaded design
4.5 Simulations
4.6 Concluding remarks
Tracking of non-holonomic systems in chained form
5.1 Introduction
5.2 The search for a cascaded structure
5.3 State-feedback
5.4 Dynamic output-feedback
5.5 Saturated control
5.6 Simulations
5.7 Concluding remarks
Tracking control of an under-actuated ship
6.1 Introduction
6.2 The tracking error dynamics
6.3 State-feedback: a cascaded approach
6.4 Experimental results
6.5 Concluding remarks
Robot manipulators and adaptive control
Introduction to Part II
7.2 Paper II: Adaptive and filtered visual servoing of pla- nar robots
7.3 Paper III: Adaptive tracking control of non-holonomic systems: an example
7.4 Discussion
Adaptive and filtered visual servoing of planar robots
1. INTRODUCTION
2. PROBLEM FORMULATION, PRELIMINARIES AND NOTATION
2.1 Robot dynamics
2.2 Output equation
2.3 Problem formulation
2.4 Notation
3. A CLASS OF STABLE VISUAL SERVO CONTROLLERS
4. ADAPTIVE VISUAL SERVOING
5. FILTERED VISUAL SERVOING
6. CONCLUDING REMARKS
ACKNOWLEDGEMENTS
7. REFERENCES
Adaptive tracking control of non-holonomic systems: an example
1 Introduction
2 Problem formulation
2.1 Tracking control problem
2.2 Adaptive tracking control problem
3 Preliminaries
4 A tracking controller
6 Concluding remarks
References
Conclusions
11.1 Discussion
11.2 Further research
A.1 Proof of Theorem 2.3.7
A.2 Proof of Theorem 2.3.8
A.3 Proof of Proposition 6.3.1
Backstepping controller for an under-actuated ship
Bibliography
Summary
Samenvatting
Curriculum Vitae
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Tracking Control of Nonlinear Mechanical Systems

Tracking Control of Nonlinear Mechanical Systems

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Published by BuketSahin

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Published by: BuketSahin on Jan 13, 2012
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04/10/2013

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