Control theory of non-linear mechanical systems : a passivity-based and circuit-theoretic approach

摘要

1. Fundamentals of robot dynamics 2. Stability of linear feedback control 3. Quasi-natural potential and saturated-position feedback 4. Model-based adaptive control 5. Iterative learning control 6. Nonlinear position-dependent circuits: another language for describing robot dynamics 7. Advanced control for electromechanical systems Appendixes References Index