Description:
This is the most complete book on virtual decomposition control. This approach uses subsystem dynamics to conduct control design, while guaranteeing the stability and convergence of the entire robot without compromising the rigorousness of the system analysis.
Review Quotes:
From the reviews:
"This book discusses for the first time about subsystem-based control of robots without compromising control performances, the proposed VDC approach using subsystems dynamics to conduct control computation while rigorously guaranteeing the stability of the entire robot without imposing additional approximations. ... a very interesting monograph introducing the new theory of Virtual Decomposition Control (VDC), and applying it fruitfully to the control of various types of robots." (Silvia Curteanu, Zentralblatt MATH, Vol. 1239, 2012)