Read e-book online Adaptive control : stability, convergence, and robustness PDF

By Shankar Sastry

ISBN-10: 0130043265

ISBN-13: 9780130043269

ISBN-10: 0130043672

ISBN-13: 9780130043672

This quantity surveys the key effects and methods of study within the box of adaptive regulate. concentrating on linear, non-stop time, single-input, single-output platforms, the authors provide a transparent, conceptual presentation of adaptive tools, allowing a serious assessment of those recommendations and suggesting avenues of additional improvement. 1989 version

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Without vision, our abilities to act and learn would be tremendously weakened. In a similar manner, vision plays a vital role in any machine which intends to perform autonomous motions, actions, tasks, or even behaviors. In robotics, the performance of a task implies that a robot's actual dynamics closely follows the dynamics required by the task itself. The actual dynamics of a robot, manifested in the form of visible motions, can be measured in two ways. The first approach is to use sensors to measure the motion parameters of the linkages inside the robot's mechanism.

Ordered sequence of mental actions) which conditions our thinking process. Simply speaking, thinking is a process of associating causes with, or disassociating them from effects. The thinking process is dictated by our belief system, because belief is pre-formed and pre-organized predictions of achievable outcomes. Our belief system also determines the configuration of our mental and physiological states. For example, the belief that one is resourceful places a person in a different state-of-mind than the belief that one is 20 The Fundamentals of Robotics: Linking Perception to Action miserable.

E. computation with words rather than digital logic), speech recognition, auditory communication, visual communication, visual perception etc. g. facial expressions). The evolution of the computer coincides with the evolution of the robot, which is characterized by the following clear trends: • The robot's arm is becoming smaller, yet it has increased manipulative ability. • The robot's hand is becoming more compact, yet it has increased dexterity and sensing ability. • The robot has a head, which may influence the design of future computer's monitor, and provide the means for facial expressions and perceptive sensory input and output.

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Adaptive control : stability, convergence, and robustness by Shankar Sastry

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