Virtual Decomposition Control

Toward Hyper Degrees of Freedom Robots

  • Wen-Hong┬áZhu

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 60)

Table of contents

  1. Front Matter
  2. Virtual Decomposition Control Theory

    1. Front Matter
      Pages 1-1
    2. Wen-Hong Zhu
      Pages 3-13
    3. Wen-Hong Zhu
      Pages 15-43
  3. Virtual Decomposition Control Applications

    1. Front Matter
      Pages 111-111
    2. Wen-Hong Zhu
      Pages 113-147
    3. Wen-Hong Zhu
      Pages 149-166
    4. Wen-Hong Zhu
      Pages 167-192
    5. Wen-Hong Zhu
      Pages 221-250
    6. Wen-Hong Zhu
      Pages 251-301
    7. Wen-Hong Zhu
      Pages 325-336
    8. Wen-Hong Zhu
      Pages 337-364
    9. Wen-Hong Zhu
      Pages 365-385
  4. Back Matter

About this book


Driven by the need to achieve superior control performances for robots with hyper degrees of freedom, the virtual decomposition control approach is thoroughly presented in this book. This approach uses subsystem (such as links and joints of a complex robot) dynamics to conduct control design, while guaranteeing the stability and convergence of the entire complex robot without compromising the rigorousness of the system analysis.

The central concept of this approach is the definition of the virtual stability. The stability of the entire complex robot is mathematically equivalent to the virtual stability of every subsystem. This fact allows us to convert a large problem to a few simple problems with mathematical certainty.

This book comprises fourteen chapters. The first five chapters form the foundation of this approach. The remaining nine chapters are relatively independent. Starting from Chapter 6, each chapter deals with a particular type of systems including motor/transmission assemblies, hydraulic robots, coordinated multiple robots, space robots, humanoid robots, adaptive teleoperation, and modular robot manipulators. At the end, the extensions of this approach to distributed-parameter systems and to electrical circuits are given, paving the way for other applications to follow.

This book is intended for practitioners, researchers, and graduate students who have acquired fundamental knowledge on robotics and control systems and have been committed to achieving the best control performances on complex robotics systems and beyond.


Adaptive control Control of complex robots Control of coordinated multiple robots Control of flexible joint robots Extension Humanoid robots Robot control Space Robots Teleoperation knowledge robot robotics

Authors and affiliations

  • Wen-Hong┬áZhu
    • 1
  1. 1.Canadian Space AgencyBrossardCanada

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2010
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-642-10723-8
  • Online ISBN 978-3-642-10724-5
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site