Nonlinear Control of Robots and Unmanned Aerial Vehicles

Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.

Dr. Ranjan Vepa earned his PhD in applied mechanics from Stanford University, Stanford, California, specialising in the area of aeroelasticity under the guidance of the late Professor Holt Ashley. He currently serves as a Reader in Aerospace Engineering in the School of Engineering and Material Science, Queen Mary University of London, where he has also been the programme director of the Avionics Programme since 2001. He is the author of seven books titled: Electric Aircraft Dynamics: A Systems Engineering Approach (CRC Press, 2020), Dynamics and Control of Autonomous Space Vehicles and Robotics (2019), Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach (CRC Press, 2016), Flight Dynamics Simulation and Control of Aircraft: Rigid and Flexible (CRC Press, 2014), Dynamic Modelling, Simulation and Control of Energy Generation (2013), Dynamics of Smart Structures (2010) and Biomimetic Robotics: Mechanisms and Control (2009). His research interests include the design of control systems, and associated signal processing with applications in aerospace systems, smart structures, robotics, biomedical engineering, and energy systems. In particular, the research interests include dynamics and robust adaptive estimation and control of linear and nonlinear aerospace, energy systems, including renewable and sustainable energy and desalination systems with parametric and dynamic uncertainties. Dr. Vepa is a member of the Royal Aeronautical Society, London; the Institution of Electrical and Electronic Engineers (IEEE), New York; a fellow of the Higher Education Academy; a member of the Royal Institute of Navigation, London; and a chartered engineer.

Lagrangian Methods for Robot Manipulators. Unmanned Aerial Vehicles (UAV) Dynamics & Lagrangian Methods. Feedback Linearisation & Decoupling. Linear and Phase Plane Analysis of Stability. Robot & UAV Control: An Overview. Stability. Lyapunov Stability. Computed Torque Control. Sliding Mode Control. Parameter Identification. Adaptive & Model Predictive Control. Lyapunov Design: The Back-stepping Approach. Hybrid Position & Force Control. UAV Control.