This book introduces a new framework for non-linear analysis and control of intelligent machines such as robot arms, mechanical hands, and other advanced mechatronic systems. It clarifies the physical and mathematical prinicples underlying the complicated dynamics of non-linear mechanicalsystems and deals with the design of controllers that enable sophisticated tasks

A modern mechanical structure must work at high speed and with high precision in space and time, in cooperation with other machines and systems. All this requires accurate dynamic modelling, for instance, recognizing Coriolis and centrifugal forces, strong coupling effects, flexibility of links, large angles articulation. This leads to a

In the 60's, control, signals and systems had a common linear algebraic background and, according to their evolution, their respective backgrounds have now dramatically differed. Recovering such a common background, especially in the nonlinear context, is currently a fully open question. The role played by physical models, finite or infinite

Books about New Results on Practical Stability for Linear and Nonlinear Uncertain Systems

This report provides a technical overview of research on the nonlinear control theory of complex mechanical systems, conducted under support of the U.S. Air Force Office of Scientific Research. The period of support has been June 15, 1990 through December 14, 1995. The research has had both theoretical and experimental