Nonlinear Control of Robots and Unmanned Aerial Vehicles

Ranjan Vepa is currently a Reader in Aerospace Engineering in the School of Engineering and Materials Science, Queen Mary University of London, UK. He obtained his PhD in Applied Mechanics in 1975 from Stanford University, USA. His research interests include the design of control systems and associated signal processing with applications in aerospace systems, smart structures, space robotics, energy and biomedical systems. Dr. Vepa teaches master's-level courses on Advanced Spacecraft Design, Aircraft Flight Control and Simulation, Aeroelasticity and Robotics. He is also a member of the Royal Aeronautical Society, London and a Fellow of the UK's Higher Education Academy. Dr. Vepa is the author of eight books including Electric Aircraft Dynamics: A Systems Engineering Approach (CRC Press, 2020) and Flight Dynamics, Simulation, and Control: For Rigid and Flexible Aircraft (Second Edition, CRC Press, 2023).

• 1. Lagrangian Methods and Robot Dynamics 2. Unmanned Aerial Vehicle Dynamics and Lagrangian Methods 3. Feedback Linearization 4. Linear and Phase Plane Analysis of Stability 5. Robot and UAV Control: An Overview 6. Stability 7. Lyapunov Stability 8. Computed Torque Control 9. Sliding Mode Control 10. Parameter Identification 11. Adaptive and Model Predictive Control 12. Lyapunov Design: The Backstepping Approach 13. Hybrid Position and Force Control 14. Autonomous Control of UAVs and Robots