Notes and References
Notes
Chapter 10 Force Control
10.1 Coordinate Frames and Constraints
10.2 Network Models and Impedance
10.3 Task Space Dynamics and Control
10.4 Chapter Summary
Problems
Notes and References
Notes
Chapter 11 Vision-Based Control
11.1 Design Considerations
11.2 Computer Vision for Vision-Based Control
11.3 Camera Motion and the Interaction Matrix
11.4 The Interaction Matrix for Point Features
11.5 Image-Based Control Laws
11.6 End Effector and Camera Motions
11.7 Partitioned Approaches
11.8 Motion Perceptibility
11.9 Summary
Problems
Notes and References
Notes
Chapter 12 Feedback Linearization
12.1 Background
12.2 Feedback Linearization
12.3 Single-Input Systems
12.4 Multi-Input Systems
12.5 Chapter Summary
Problems
Notes and References
Notes
7 Part IV Control of Underactuated Systems Chapter 13 Underactuated Robots 13.1 Introduction 13.2 Modeling 13.3 Examples of Underactuated Robots 13.4 Equilibria and Linear Controllability 13.5 Partial Feedback Linearization 13.6 Output Feedback Linearization 13.7 Passivity-Based Control 13.8 Chapter Summary Problems Notes and References Note Chapter 14 Mobile Robots 14.1 Nonholonomic Constraints 14.2 Involutivity and Holonomy 14.3 Examples of Nonholonomic Systems 14.4 Dynamic Extension 14.5 Controllability of Driftless Systems 14.6 Motion Planning 14.7 Feedback Control of Driftless Systems 14.8 Chapter Summary Problems Notes and References Note
8 Appendix A Trigonometry A.1 The Two-Argument Arctangent Function A.2 Useful Trigonometric Formulas
9 Appendix B Linear Algebra B.1 Vectors B.2 Inner Product Spaces B.3 Matrices B.4 Eigenvalues and Eigenvectors B.5 Differentiation of Vectors B.6 The Matrix Exponential B.7 Lie Groups and Lie Algebras B.8 Matrix Pseudoinverse B.9 Schur Complement B.10 Singular Value Decomposition (SVD)
10 Appendix C Lyapunov Stability C.1 Continuity and Differentiability C.2 Vector Fields and Equilibria C.3 Lyapunov Functions C.4 Stability Criteria C.5 Global and Exponential Stability C.6 Stability of Linear Systems C.7 LaSalle’s Theorem C.8 Barbalat’s Lemma
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