Robotics
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This book presents a systematic treatment of theoretical methods and computation schemes for solving problems in dynamics and control. The mathematical models investigated here are motivated by processes that emerge in many applied areas. The book is aimed at graduate students, researchers, and practitioners in control theory with applications and computational realizations. The emphasis is on issues of reachability, feedback control synthesis under complex state constraints, hard or double bounds on controls, and performance in finite continuous time. Also given is a concise description of problems in guaranteed state estimation, output feedback control, and hybrid dynamics using methods of this book. Although its focus is on systems with linear structure, the text also indicates how the suggested approaches apply to systems with nonlinearity and nonconvexity.
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