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• Preliminaries
• External Synchronization of Rigid Joint Robots
• External Synchronization of Flexible Joint Robots
• Mutual Synchronization of Rigid Joint Robots
• Experimental Case Study
• Extensions.
• (source: Nielsen Book Data)

The main goal of this book is to prove analytically and validate experimentally that synchronization in multi-composed mechanical systems can be achieved in the case of partial knowledge of the state vector of the systems, i.e. when only positions are measured. For this purpose, synchronization schemes based on interconnections between the systems, feedback controllers and observers are proposed.Because mechanical systems include a large variety of systems, and since it is impossible to address all of them, the book focuses on robot manipulators. Nonetheless the ideas developed here can be extended to other mechanical systems, such as mobile robots, motors and generators.
(source: Nielsen Book Data)

• Preliminaries
• External Synchronization of Rigid Joint Robots
• External Synchronization of Flexible Joint Robots
• Mutual Synchronization of Rigid Joint Robots
• Experimental Case Study
• Extensions.
• (source: Nielsen Book Data)

The main goal of this book is to prove analytically and validate experimentally that synchronization in multi-composed mechanical systems can be achieved in the case of partial knowledge of the state vector of the systems, i.e. when only positions are measured. For this purpose, synchronization schemes based on interconnections between the systems, feedback controllers and observers are proposed.Because mechanical systems include a large variety of systems, and since it is impossible to address all of them, the book focuses on robot manipulators. Nonetheless the ideas developed here can be extended to other mechanical systems, such as mobile robots, motors and generators.
(source: Nielsen Book Data)

• Contents: Introduction.- Manifolds, Vectorfields, Lie Brackets, Distributions.- Controllability and Observability, Local Decompositions.- Input-Output Representations.- State Space Transformation and Feedback.- Feedback Linearization of Nonlinear Systems.- Controlled Invariant Distribution and the Disturbance Decoupling Problem.- The Input-Output Decoupling Problem: Geometric Considerations.- Local Stability and Stabilization of Nonlinear Systems.- Controlled Invariant Submanifolds and Nonlinear Zero Dynamics.- Mechanical Nonlinear Control Systems.- Controlled Invariance and Decoupling for General Nonlinear Systems.- Discrete-Time Nonlinear Control Systems.- Subject Index.
• (source: Nielsen Book Data)

This volume is intended for researchers in engineering and applied mathematics. It can also be used as a textbook for graduate students dealing with non-linear systems and control theory. After a self-contained treatment of the differential-geometric prerequisites, the book deals with controllability, as well as various ways to obtain input-output representations. Problems of transforming nonlinear systems into simpler forms are discussed, including the feedback linearization problem. The disturbance and input-output decoupling problem are treated in detail, as well as some aspects of feedback stabilization, and interconnection and inversion of nonlinear systems. Emphasis is placed on fundamental notions as (controlled) invariant distributions and submanifolds, together with algorithms to compute the required feedback. Extensions of these methods to other synthesis problems are indicated in the exercises at the end of each chapter. Special attention is paid to mechanical nonlinear control sustems, and finally the theory is extended to general continuous-time and discrete time systems. Numerous examples and exercises illustrate the main results of the book.
(source: Nielsen Book Data)

• Introduction.- Preliminaries on Non-smooth Analysis.- Differential Inclusions.- Modelling of Dry Friction.- Mechanical Systems with Set-valued Force-laws.- Numerical Integration Methods.- Fundamental Solution Matrix.- Bifurcations of Equilibria in Non-smooth Continuous Systems.- Bifurcations of Periodic Solutions.- Concluding Remarks.
• (source: Nielsen Book Data)

This monograph combines the knowledge of both the field of nonlinear dynamics and non-smooth mechanics and presents a framework for a class of non-smooth mechanical systems using techniques from both fields. During the last decades, the non-smooth mechanics community has developed a formulation of non-smooth systems, the mathematical prerequisites (Convex Analysis) as well as dedicated numerical algorithms. Dynamics and Bifurcations of Non-smooth Mechanical Systems presents these developments in a comprehensive way and opens the field to the nonlinear dynamics community. This book addresses researchers and graduate students in engineering and mathematics interested in the modelling, simulation and dynamics of non-smooth systems and nonlinear dynamics.
(source: Nielsen Book Data)

• An Introduction to Parametric Resonance
• Part I Detection and Estimation of Parametric Resonance: Detection of Parametric Roll for Ships
• Estimation of Parametric Roll in Random Seaways
• Part II Parametric Roll: Trimaran Vessels and Parametric Roll
• Probability of Parametric Roll in Random Seaways
• Domains of Parametric Roll Amplification for Different Hull Forms
• Probabilistic Properties of Parametric Roll
• Experience from Parametric Rolling of Ships
• Ship Model for Parametric Roll Incorporating the Effects of Time-Varying Speed
• Part III Control of Parametric Resonance in Ships: Frequency Detuning Control by Doppler Shift
• Optimal Speed and Heading Control for Stabilization of Parametric Oscillations in Ships
• A U-Tank Control System for Ships in Parametric Roll Resonance
• Part IV Control of Parametric Resonance in Mechanical Systems: Parametric and Direct Resonances in a Base-Excited Beam Carrying a Top Mass
• A Study of the Onset and Stabilization of Parametric Roll by using an Electro-Mechanical Device
• Controlling Parametric Resonance: Induction and Stabilization of Unstable Motions.

"The subject of the book is parametric resonance in marine and mechanical systems with focus on detection, mathematical modeling, and control. The book contains new results on modeling, detection, and control of parametric resonance and it is a supplement to engineers who are familiar with nonlinear systems"--Page v

• Approximation Methods and Reference Values for Maximum Allowed Collaborative Operating Speeds in Quasi-static and Transient Contact Cases
• Toward Real-time Multi-Objective Optimization for Bus Service KPIs
• A Two-stage Trajectory Prediction Algorithm for Mobile Robots Combining the Bayesian and the DMOC Frameworks
• Adaptive Neural Network based Fractional Order Control of Unmanned Aerial Vehicle
• Design and Development of a Dexterous Teleoperation Setup for Nuclear Waste Remote Manipulation
• Pose Optimization of Task-redundant Robots in Second-order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection
• Output Feedback Reference Tracking and Disturbance Rejection for Constrained Linear Systems using Invariant Sets
• Output-feedback Model Predictive Control using Set of State Estimates
• Prediction of Overdispersed Count Data using Real-time Cluster-based Discretization of Explanatory Variables
• Model-based Optimization of Vaccination Strategies in Different Phases of Pandemic Virus Spread.

The book focuses the latest endeavors relating researches and developments conducted in fields of control, robotics, and automation. Through more than ten revised and extended articles, the present book aims to provide the most up-to-date state of the art of the aforementioned fields allowing researcher, Ph.D. students, and engineers not only updating their knowledge but also benefiting from the source of inspiration that represents the set of selected articles of the book. The deliberate intention of editors to cover as well theoretical facets of those fields as their practical accomplishments and implementations offers the benefit of gathering in a same book a factual and well-balanced prospect of nowadays research in those topics. A special attention toward Intelligent Robots and Control may characterize another benefit of this book.

• Preface.- Introduction.- Convergent systems.- The uniform output regulation problem.- Solvability of the uniform output regulation problem.- Controller design for the global uniform output regulation problem.- The local output regulation problem: convergence region estimates.- Experimental case study.- Concluding remarks.- Appendix.- References.- Index.
• (source: Nielsen Book Data)

The problem of asymptotic regulation of the output of a dynamical system plays a central role in control theory. An important variant of this problem is the output regulation problem, which can be used in such areas as set-point control, tracking reference signals and rejecting disturbances generated by an external system, controlled synchronization of dynamical systems, and observer design for autonomous systems. This book is one of the first systematic studies on the nonlinear output regulation problem that embraces both the local and global solvability analysis, covering such aspects as solvability conditions, controller design, and practical implementation issues. The book opens with the development of the mathematical apparatus of convergent systems - very useful for studying nonlinear control systems - laying the foundation for most of the results presented in the work. The study then proceeds to a new problem statement - the so-called uniform output regulation problem. A comprehensive solvability analysis of this problem is provided in the next part of the work. Based on the solvability analysis, constructive controller design methods for the global uniform output regulation problem are presented for various classes of nonlinear systems. In an attempt to bridge the gap between theory and practice, the authors conclude with a presentation of an experimental case study. The experiment - one of the first in the field of nonlinear output regulation - deals with control of a translational oscillator with a rotational actuator, illustrating the applicability of the nonlinear output regulation theory in experiments and raising a number of questions to be addressed in future research. The scope of questions addressed in the book, the uniformity of their treatment, the novelty of the proposed approach, and the obtained results make this volume unique with respect to other works on the problem of nonlinear output regulation. In addition to being an excellent reference for the uniform output regulation problem, the book has a tutorial value on convergent systems. The work will be of interest to control engineers, theorists, and students, and may be used as a textbook for a graduate course on nonlinear control.
(source: Nielsen Book Data)

• Vehicle Navigation Systems.- Localization and Mapping.- Path Planning.- Sensing and Tracking Systems.- Identification and Motion Control of Robotic Vehicles.- Coordinated and Cooperative Control of Multi-Vehicle Systems.
• (source: Nielsen Book Data)

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students. .
(source: Nielsen Book Data)

• Vehicle Navigation Systems
• Localization and Mapping
• Path Planning
• Sensing and Tracking Systems
• Identification and Motion Control of Robotic Vehicles
• Coordinated and Cooperative Control of Multi-Vehicle Systems.

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.

This volume contains the contributions to a Workshop on Group Coordination and Cooperative Control held in Tromso, Norway, 2006, to focus on control theoretic challenges raised by group coordination and cooperation, and lay a foundation for future research. The book covers a wide range of subjects within the area of group coordination and cooperative control, and forms a valuable and up-to-date text on the newer trends in group coordination and cooperative control.
(source: Nielsen Book Data)

• Introduction.- Part I: Nonlinear Control Systems.- New Results in Distributed Nonlinear Control of Autonomous Multi-Agents.- Controlled Invariant Distributions: How It All Started and Why It's Still Alive.- Covergent Systems: Nonlinear Simplicity.- Part II: Synchronization in Networked Systems.- An Observer Looks at Synchronization: Revisited.- Synchronization and Emergent Behavior in Networks of Heterogeneous Systems: A Control Theory Perspective
• Emergence of Oscillations in Networks of Time-Delay Coupled Internet Systems.- Control of Nonlinear Mechanical Systems.- Control of Underactuated Marine Vehicles in the Presence of Environmental Disturbances.- Position Control via Force Feedback for a Class of Standard Mechanical Systems in the Port-Hamiltonian Framework.- The Endogenous Configuration Space Approach: An Intersection of Robotics and Control Theory.
• (source: Nielsen Book Data)

This treatment of modern topics related to the control of nonlinear systems is a collection of contributions celebrating the work of Professor Henk Nijmeijer and honoring his 60th birthday. It addresses several topics that have been the core of Professor Nijmeijer's work, namely: the control of nonlinear systems, geometric control theory, synchronization, coordinated control, convergent systems and the control of underactuated systems. The book presents recent advances in these areas, contributed by leading international researchers in systems and control. In addition to the theoretical questions treated in the text, particular attention is paid to a number of applications including (mobile) robotics, marine vehicles, neural dynamics and mechanical systems generally. This volume provides a broad picture of the analysis and control of nonlinear systems for scientists and engineers with an interest in the interdisciplinary field of systems and control theory. The reader will benefit from the expert participants' ideas on important open problems with contributions that represent the state of the art in nonlinear control.
(source: Nielsen Book Data)