Notes and References Notes Chapter 11 Vision-Based Control 11.1 Design Considerations 11.2 Computer Vision for Vision-Based Control 11.3 Camera Motion and the Interaction Matrix 11.4 The Interaction Matrix for Point Features 11.5 Image-Based Control Laws 11.6 End Effector and Camera Motions 11.7 Partitioned Approaches 11.8 Motion Perceptibility 11.9 Summary Problems Notes and References Notes Chapter 12 Feedback Linearization 12.1 Background 12.2 Feedback Linearization 12.3 Single-Input Systems 12.4 Multi-Input Systems 12.5 Chapter Summary Problems Notes and References Notes
7 Part IV Control of Underactuated Systems Chapter 13 Underactuated Robots 13.1 Introduction 13.2 Modeling 13.3 Examples of Underactuated Robots 13.4 Equilibria and Linear Controllability 13.5 Partial Feedback Linearization 13.6 Output Feedback Linearization 13.7 Passivity-Based Control 13.8 Chapter Summary Problems Notes and References Note Chapter 14 Mobile Robots 14.1 Nonholonomic Constraints 14.2 Involutivity and Holonomy 14.3 Examples of Nonholonomic Systems 14.4 Dynamic Extension 14.5 Controllability of Driftless Systems 14.6 Motion Planning 14.7 Feedback Control of Driftless Systems 14.8 Chapter Summary Problems Notes and References Note
8 Appendix A Trigonometry A.1 The Two-Argument Arctangent Function A.2 Useful Trigonometric Formulas
9 Appendix B Linear Algebra B.1 Vectors B.2 Inner Product Spaces B.3 Matrices B.4 Eigenvalues and Eigenvectors B.5 Differentiation of Vectors B.6 The Matrix Exponential B.7 Lie Groups and Lie Algebras B.8 Matrix Pseudoinverse B.9 Schur Complement B.10 Singular Value Decomposition (SVD)
10 Appendix C Lyapunov Stability C.1 Continuity and Differentiability C.2 Vector Fields and Equilibria C.3 Lyapunov Functions C.4 Stability Criteria C.5 Global and Exponential Stability C.6 Stability of Linear Systems C.7 LaSalle’s Theorem C.8 Barbalat’s Lemma
11 Appendix D Optimization D.1 Unconstrained Optimization D.2 Constrained Optimization
12 Appendix E Camera Calibration E.1 The Image Plane and the Sensor Array E.2 Extrinsic Camera Parameters E.3 Intrinsic Camera Parameters E.4 Determining