Shuzhi Sam Ge's Books

Fundamentals in Modeling and Control of Mobile Manipulators

By: Zhijun Li,Shuzhi Sam Ge

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Fundamentals in Modeling and Control of Mobile Manipulators

By: Zhijun Li,Shuzhi Sam Ge

Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design.

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Page Count

292

Publisher

CRC Press

Published Date

ISBN 10

1466580429

ISBN 13

9781466580428

Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms

By: Xinghua Liu,Rui Jiang,Badong Chen,Shuzhi Sam Ge

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Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms

By: Xinghua Liu,Rui Jiang,Badong Chen,Shuzhi Sam Ge

Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms Enables readers to understand important new trends in multimodal perception for mobile robotics This book provides a novel perspective on secure state estimation and multimodal perception for robotic mobility platforms such as autonomous vehicles. It thoroughly evaluates filter-based secure dynamic pose estimation approaches for autonomous vehicles over multiple attack signals and shows that they outperform conventional Kalman filtered results. As a modern learning resource, it contains extensive simulative and experimental results that have been successfully implemented on various models and real platforms. To aid in reader comprehension, detailed and illustrative examples on algorithm implementation and performance evaluation are also presented. Written by four qualified authors in the field, sample topics covered in the book include: Secure state estimation that focuses on system robustness under cyber-attacks Multi-sensor fusion that helps improve system performance based on the complementary characteristics of different sensors A geometric pose estimation framework to incorporate measurements and constraints into a unified fusion scheme, which has been validated using public and self-collected data How to achieve real-time road-constrained and heading-assisted pose estimation This book will appeal to graduate-level students and professionals in the fields of ground vehicle pose estimation and perception who are looking for modern and updated insight into key concepts related to the field of robotic mobility platforms.

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Page Count

228

Publisher

John Wiley & Sons

Published Date

ISBN 10

111987601X

ISBN 13

9781119876014

Time-Synchronized Control: Analysis and Design

By: Dongyu Li,Shuzhi Sam Ge,Tong Heng Lee

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Time-Synchronized Control: Analysis and Design

By: Dongyu Li,Shuzhi Sam Ge,Tong Heng Lee

Previous research on fixed/finite-time sliding-mode control focuses on forcing a system state (vector) to converge within a certain time moment, regardless of how each state element converges. This book introduces a control problem with unique finite/fixed-time stability considerations, namely time-synchronized stability, where at the same time, all the system state elements converge to the origin, and fixed-time-synchronized stability, where the upper bound of the synchronized settling time is invariant with any initial state. Accordingly, sufficient conditions for (fixed-) time-synchronized stability are presented. These stability formulations grant essentially advantageous performance when a control system (with diversified subsystems) is expected to accomplish multiple actions synchronously, e.g., grasping with a robotic hand, multi-agent simultaneous cooperation, etc. Further, the analytical solution of a (fixed) time-synchronized stable system is obtained and discussed. Applications to linear systems, disturbed nonlinear systems, and network systems are provided. In addition, comparisons with traditional fixed/finite-time sliding mode control are suitably detailed to showcase the full power of (fixed-) time-synchronized control.

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Page Count

264

Publisher

Springer Nature

Published Date

ISBN 10

9811630895

ISBN 13

9789811630897

Modeling, Control and Coordination of Helicopter Systems

By: Beibei Ren,Shuzhi Sam Ge,Chang Chen,Cheng-Heng Fua,Tong Heng Lee

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Modeling, Control and Coordination of Helicopter Systems

By: Beibei Ren,Shuzhi Sam Ge,Chang Chen,Cheng-Heng Fua,Tong Heng Lee

Modeling, Control and Coordination of Helicopter Systems provides a comprehensive treatment of helicopter systems, ranging from related nonlinear flight dynamic modeling and stability analysis to advanced control design for single helicopter systems, and also covers issues related to the coordination and formation control of multiple helicopter systems to achieve high performance tasks. Ensuring stability in helicopter flight is a challenging problem for nonlinear control design and development. This book is a valuable reference on modeling, control and coordination of helicopter systems,providing readers with practical solutions for the problems that still plague helicopter system design and implementation. Readers will gain a complete picture of helicopters at the systems level, as well as a better understanding of the technical intricacies involved.

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Page Count

243

Publisher

Springer Science & Business Media

Published Date

ISBN 10

1461415632

ISBN 13

9781461415633

Maneuverable Formation Control in Constrained Space

By: Dongyu Li,Xiaomei Liu,Qinglei Hu,Shuzhi Ge

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Maneuverable Formation Control in Constrained Space

By: Dongyu Li,Xiaomei Liu,Qinglei Hu,Shuzhi Ge

Inspired by the community behaviors of animals and humans, cooperative control has been intensively studied by numerous researchers in recent years. Cooperative control aims to build a network system collectively driven by a global objective function in a distributed or centralized communication network and shows great application potential in a wide domain. From the perspective of cybernetics in network system cooperation, one of the main tasks is to design the formation control scheme for multiple intelligent unmanned systems, facilitating the achievements of hazardous missions – e.g., deep space exploration, cooperative military operation, and collaborative transportation. Various challenges in such real-world applications are driving the proposal of advanced formation control design, which is to be addressed to bring academic achievements into real industrial scenarios. This book extends the performance of formation control beyond classical dynamic or stationary geometric configurations, focusing on formation maneuverability that enables cooperative systems to keep suitable spacial configurations during agile maneuvers. This book embarks on an adventurous journey of maneuverable formation control in constrained space with limited resources, to accomplish the exploration of an unknown environment. The investigation of the real-world challenges, including model uncertainties, measurement inaccuracy, input saturation, output constraints, and spatial collision avoidance, brings the value of this book into the practical industry, rather than being limited to academics.

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Page Count

411

Publisher

CRC Press

Published Date

ISBN 10

1040015468

ISBN 13

9781040015469

Stability Theory of Switched Dynamical Systems

By: Zhendong Sun,Shuzhi Sam Ge

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Stability Theory of Switched Dynamical Systems

By: Zhendong Sun,Shuzhi Sam Ge

There are plenty of challenging and interesting problems open for investigation in the field of switched systems. Stability issues help to generate many complex nonlinear dynamic behaviors within switched systems. The authors present a thorough investigation of stability effects on three broad classes of switching mechanism: arbitrary switching where stability represents robustness to unpredictable and undesirable perturbation, constrained switching, including random (within a known stochastic distribution), dwell-time (with a known minimum duration for each subsystem) and autonomously-generated (with a pre-assigned mechanism) switching; and designed switching in which a measurable and freely-assigned switching mechanism contributes to stability by acting as a control input. For each of these classes this book propounds: detailed stability analysis and/or design, related robustness and performance issues, connections to other control problems and many motivating and illustrative examples.

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Page Count

266

Publisher

Springer Science & Business Media

Published Date

ISBN 10

0857292560

ISBN 13

9780857292568

Dynamics and Control of Mechanical Systems in Offshore Engineering

By: Wei He,Shuzhi Sam Ge,Bernard Voon Ee How,Yoo Sang Choo

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Dynamics and Control of Mechanical Systems in Offshore Engineering

By: Wei He,Shuzhi Sam Ge,Bernard Voon Ee How,Yoo Sang Choo

Dynamics and Control of Mechanical Systems in Offshore Engineering is a comprehensive treatment of marine mechanical systems (MMS) involved in processes of great importance such as oil drilling and mineral recovery. Ranging from nonlinear dynamic modeling and stability analysis of flexible riser systems, through advanced control design for an installation system with a single rigid payload attached by thrusters, to robust adaptive control for mooring systems, it is an authoritative reference on the dynamics and control of MMS. Readers will gain not only a complete picture of MMS at the system level, but also a better understanding of the technical considerations involved and solutions to problems that commonly arise from dealing with them. The text provides: · a complete framework of dynamical analysis and control design for marine mechanical systems; · new results on the dynamical analysis of riser, mooring and installation systems together with a general modeling method for a class of MMS; · a general method and strategy for realizing the control objectives of marine systems with guaranteed stability the effectiveness of which is illustrated by extensive numerical simulation; and · approximation-based control schemes using neural networks for installation of subsea structures with attached thrusters in the presence of time-varying environmental disturbances and parametric uncertainties. Most of the results presented are analytical with repeatable design algorithms with proven closed-loop stability and performance analysis of the proposed controllers is rigorous and detailed. Dynamics and Control of Mechanical Systems in Offshore Engineering is primarily intended for researchers and engineers in the system and control community, but graduate students studying control and marine engineering will also find it a useful resource as will practitioners working on the design, running or maintenance of offshore platforms.

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Page Count

240

Publisher

Springer Science & Business Media

Published Date

ISBN 10

1447153375

ISBN 13

9781447153375

Adaptive Neural Network Control Of Robotic Manipulators

By: Sam Shuzhi Ge,Christopher J Harris,Tong Heng Lee

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Adaptive Neural Network Control Of Robotic Manipulators

By: Sam Shuzhi Ge,Christopher J Harris,Tong Heng Lee

Recently, there has been considerable research interest in neural network control of robots, and satisfactory results have been obtained in solving some of the special issues associated with the problems of robot control in an “on-and-off” fashion. This book is dedicated to issues on adaptive control of robots based on neural networks. The text has been carefully tailored to (i) give a comprehensive study of robot dynamics, (ii) present structured network models for robots, and (iii) provide systematic approaches for neural network based adaptive controller design for rigid robots, flexible joint robots, and robots in constraint motion. Rigorous proof of the stability properties of adaptive neural network controllers is provided. Simulation examples are also presented to verify the effectiveness of the controllers, and practical implementation issues associated with the controllers are also discussed.

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Page Count

397

Publisher

World Scientific

Published Date

ISBN 10

9814496227

ISBN 13

9789814496223

Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms

By: Rui Jiang,Xinghua Liu,Badong Chen,Shuzhi Sam Ge

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Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms

By: Rui Jiang,Xinghua Liu,Badong Chen,Shuzhi Sam Ge

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Page Count

228

Publisher

John Wiley & Sons

Published Date

ISBN 10

1119876036

ISBN 13

9781119876038

Fundamentals in Modeling and Control of Mobile Manipulators

By: Zhijun Li,Shuzhi Sam Ge

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Fundamentals in Modeling and Control of Mobile Manipulators

By: Zhijun Li,Shuzhi Sam Ge

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Page Count

292

Publisher

CRC Press

Published Date

ISBN 10

1466580429

ISBN 13

9781466580428

Time-Synchronized Control: Analysis and Design

By: Dongyu Li,Shuzhi Sam Ge,Tong Heng Lee

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Time-Synchronized Control: Analysis and Design

By: Dongyu Li,Shuzhi Sam Ge,Tong Heng Lee

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Page Count

264

Publisher

Springer Nature

Published Date

ISBN 10

9811630895

ISBN 13

9789811630897

Stability Theory of Switched Dynamical Systems

By: Zhendong Sun,Shuzhi Sam Ge

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Stability Theory of Switched Dynamical Systems

By: Zhendong Sun,Shuzhi Sam Ge

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Page Count

266

Publisher

Springer Science & Business Media

Published Date

ISBN 10

0857292560

ISBN 13

9780857292568

Switched Linear Systems

Control and Design

By: Zhendong Sun

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Switched Linear Systems

Control and Design

By: Zhendong Sun

Switched linear systems have enjoyed a particular growth in interest since the 1990s. The large amount of data and ideas thus generated have, until now, lacked a co-ordinating framework to focus them effectively on some of the fundamental issues such as the problems of robust stabilizing switching design, feedback stabilization and optimal switching. This deficiency is resolved by this book which features: nucleus of constructive design approaches based on canonical decomposition and forming a sound basis for the systematic treatment of secondary results; theoretical exploration and logical association of several independent but pivotal concerns in control design as they pertain to switched linear systems: controllability and observability, feedback stabilization, optimization and periodic switching; a reliable foundation for further theoretical research as well as design guidance for real life engineering applications through the integration of novel ideas, fresh insights and rigorous results.

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Page Count

303

Publisher

Springer Science & Business Media

Published Date

ISBN 10

1846281318

ISBN 13

9781846281310

Book's by Shuzhi Sam Ge

Fundamentals in Modeling and Control of Mobile Manipulators

Fundamentals in Modeling and Control of Mobile Manipulators

Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms

Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms

Time-Synchronized Control: Analysis and Design

Time-Synchronized Control: Analysis and Design

Modeling, Control and Coordination of Helicopter Systems

Modeling, Control and Coordination of Helicopter Systems

Maneuverable Formation Control in Constrained Space

Maneuverable Formation Control in Constrained Space

Stability Theory of Switched Dynamical Systems

Stability Theory of Switched Dynamical Systems

Dynamics and Control of Mechanical Systems in Offshore Engineering

Dynamics and Control of Mechanical Systems in Offshore Engineering

Adaptive Neural Network Control Of Robotic Manipulators

Adaptive Neural Network Control Of Robotic Manipulators

Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms

Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms

Fundamentals in Modeling and Control of Mobile Manipulators

Fundamentals in Modeling and Control of Mobile Manipulators

Time-Synchronized Control: Analysis and Design

Time-Synchronized Control: Analysis and Design

Stability Theory of Switched Dynamical Systems

Stability Theory of Switched Dynamical Systems

Switched Linear Systems

Switched Linear Systems

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