Nonlinear Control Of Vehicles And Robots

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Nonlinear Control of Vehicles and Robots

Béla Lantos,Lőrinc Márton
Nonlinear Control of Vehicles and Robots Book PDF

Author : Béla Lantos,Lőrinc Márton
Publisher : Springer Science & Business Media
Page : 479 pages
File Size : 51,6 Mb
Release : 2010-12-01
Category : Technology & Engineering
ISBN : 9781849961226

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Nonlinear Control of Vehicles and Robots by Béla Lantos,Lőrinc Márton Pdf

Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.

Robotic Manipulators and Vehicles

Gerasimos Rigatos,Krishna Busawon
Robotic Manipulators and Vehicles Book PDF

Author : Gerasimos Rigatos,Krishna Busawon
Publisher : Springer
Page : 734 pages
File Size : 54,7 Mb
Release : 2018-05-24
Category : Technology & Engineering
ISBN : 9783319778518

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Robotic Manipulators and Vehicles by Gerasimos Rigatos,Krishna Busawon Pdf

This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.

Nonlinear Control of Robots and Unmanned Aerial Vehicles

Ranjan Vepa
Nonlinear Control of Robots and Unmanned Aerial Vehicles Book PDF

Author : Ranjan Vepa
Publisher : CRC Press
Page : 704 pages
File Size : 42,9 Mb
Release : 2016-10-14
Category : Technology & Engineering
ISBN : 9781315350301

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Nonlinear Control of Robots and Unmanned Aerial Vehicles by Ranjan Vepa Pdf

Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.

Lyapunov-Based Control of Robotic Systems

Aman Behal,Warren Dixon,Darren M. Dawson,Bin Xian
Lyapunov Based Control of Robotic Systems Book PDF

Author : Aman Behal,Warren Dixon,Darren M. Dawson,Bin Xian
Publisher : CRC Press
Page : 389 pages
File Size : 41,8 Mb
Release : 2009-12-17
Category : Computers
ISBN : 9781420006278

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Lyapunov-Based Control of Robotic Systems by Aman Behal,Warren Dixon,Darren M. Dawson,Bin Xian Pdf

Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov's direc

Nonlinear Control of Robots and Unmanned Aerial Vehicles

Ranjan Vepa
Nonlinear Control of Robots and Unmanned Aerial Vehicles Book PDF

Author : Ranjan Vepa
Publisher : CRC Press
Page : 544 pages
File Size : 50,7 Mb
Release : 2016-10-14
Category : Technology & Engineering
ISBN : 9781498767057

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Nonlinear Control of Robots and Unmanned Aerial Vehicles by Ranjan Vepa Pdf

Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.

Nonlinear Control of Wheeled Mobile Robots

Warren E. Dixon,Darren M. Dawson,Erkan Zergeroglu,Aman Behal
Nonlinear Control of Wheeled Mobile Robots Book PDF

Author : Warren E. Dixon,Darren M. Dawson,Erkan Zergeroglu,Aman Behal
Publisher : Springer
Page : 198 pages
File Size : 45,9 Mb
Release : 2014-03-12
Category : Technology & Engineering
ISBN : 1447139607

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Nonlinear Control of Wheeled Mobile Robots by Warren E. Dixon,Darren M. Dawson,Erkan Zergeroglu,Aman Behal Pdf

This book examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined utilizing Lyapunov techniques. The performance of each controller is either illustrated through simulation results or experimental results. The final chapter describes how the control techniques developed for wheeled mobile robots can be applied to solve other problems with similar governing differential equations (e.g., twin rotor helicopters, surface vessels). Several appendices are included to provide the reader with the mathematical background utilized in the control development and stability analysis. Two appendices are also included that provide specific details with regard to the modifications that were done to commercially available mobile robots (e.g., a K2A manufactured by Cybermotion Inc. and a Pioneer II manufactured by Activemedia) to experimentally demonstrate the performance of the torque input controllers.

Control Design and Analysis for Underactuated Robotic Systems

Xin Xin,Yannian Liu
Control Design and Analysis for Underactuated Robotic Systems Book PDF

Author : Xin Xin,Yannian Liu
Publisher : Springer Science & Business Media
Page : 319 pages
File Size : 55,5 Mb
Release : 2014-01-03
Category : Technology & Engineering
ISBN : 9781447162513

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Control Design and Analysis for Underactuated Robotic Systems by Xin Xin,Yannian Liu Pdf

The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design and analysis presented in a systematic way particularly for the following examples: l directly and remotely driven Acrobots l Pendubot l rotational pendulum l counter-weighted Acrobot 2-link underactuated robot with flexible elbow joint l variable-length pendulum l 3-link gymnastic robot with passive first joint l n-link planar robot with passive first joint l n-link planar robot with passive single joint double, or two parallel pendulums on a cart l 3-link planar robots with underactuation degree two 2-link free flying robot The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum. Control Design and Analysis for Underactuated Robotic Systems is intended for advanced undergraduate and graduate students and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.

Nonlinear Control Technology of Vehicle Chassis-by-Wire System

Wanzhong Zhao,Chunyan Wang
Nonlinear Control Technology of Vehicle Chassis by Wire System Book PDF

Author : Wanzhong Zhao,Chunyan Wang
Publisher : Springer
Page : 241 pages
File Size : 45,8 Mb
Release : 2022-01-04
Category : Technology & Engineering
ISBN : 9811673217

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Nonlinear Control Technology of Vehicle Chassis-by-Wire System by Wanzhong Zhao,Chunyan Wang Pdf

This book belongs to the field of intelligent vehicle control, which is dedicated to the research of nonlinear control problems of intelligent vehicle chassis-by-wire systems. Through the nonlinear stability control of the steer-by-wire system and the consistency optimization control of the brake-by-wire system, the performance of the vehicle subsystem is improved. Then, the decoupling control of the nonlinear inverse system is used to realize the decoupling of the chassis-by-wire system. Finally, this book further adopts nonlinear rollover prevention integrated control to improve the rollover prevention performance of the vehicle.

Nonlinear Control Techniques for Electro-hydraulic Actuators in Robotics Engineering

Qing Guo,Dan Jiang
Nonlinear Control Techniques for Electro hydraulic Actuators in Robotics Engineering Book PDF

Author : Qing Guo,Dan Jiang
Publisher : Unknown
Page : 0 pages
File Size : 51,8 Mb
Release : 2018
Category : Actuators
ISBN : 1138634220

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Nonlinear Control Techniques for Electro-hydraulic Actuators in Robotics Engineering by Qing Guo,Dan Jiang Pdf

Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering meets the needs of those working in advanced electro-hydraulic controls for modern mechatronic and robotic systems. The non-linear EHS control methods covered are proving to be more effective than traditional controllers, such as PIDs. The control strategies given address parametric uncertainty, unknown external load disturbance, single-rod actuator characteristics, and control saturation. Theoretical and experimental validations are explained, and examples provided. Based on the authors' cutting-edge research, this work is an important resource for engineers, researchers, and students working in EHS.

Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle

Moussa Labbadi,Yassine Boukal,Mohamed Cherkaoui
Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle Book PDF

Author : Moussa Labbadi,Yassine Boukal,Mohamed Cherkaoui
Publisher : Springer Nature
Page : 263 pages
File Size : 40,8 Mb
Release : 2021-09-14
Category : Technology & Engineering
ISBN : 9783030810146

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Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle by Moussa Labbadi,Yassine Boukal,Mohamed Cherkaoui Pdf

This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering.

Dynamics and Control of Autonomous Space Vehicles and Robotics

Ranjan Vepa
Dynamics and Control of Autonomous Space Vehicles and Robotics Book PDF

Author : Ranjan Vepa
Publisher : Cambridge University Press
Page : 371 pages
File Size : 40,6 Mb
Release : 2019-05-02
Category : Science
ISBN : 9781108422840

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Dynamics and Control of Autonomous Space Vehicles and Robotics by Ranjan Vepa Pdf

Presents the established principles underpinning space robotics with a thorough and modern approach. This text is perfect for professionals in the field looking to gain an understanding of real-life applications of manipulators on satellites, and of the dynamics of satellites carrying robotic manipulators and of planetary rovers.

Inertial Quasi-Velocity Based Controllers for a Class of Vehicles

Przemyslaw Herman
Inertial Quasi Velocity Based Controllers for a Class of Vehicles Book PDF

Author : Przemyslaw Herman
Publisher : Springer Nature
Page : 384 pages
File Size : 42,9 Mb
Release : 2022-02-26
Category : Technology & Engineering
ISBN : 9783030946470

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Inertial Quasi-Velocity Based Controllers for a Class of Vehicles by Przemyslaw Herman Pdf

This book offers a timely overview of nonlinear control methods applied to a set of vehicles and their applications to study vehicle dynamics. The first part on the book presents the mathematical models used for describing motion of three class of vehicles such as underwater vehicles, hovercrafts and airships. In turn, each model is expressed in terms of Inertial Quasi-Velocities. Various control strategies from the literature, including model-free ones, are then analyzed. The second part and core of the book guides readers to developing model-based control algorithms using Inertial Quasi-Velocities. Both non-adaptive and adaptive versions are covered. Each controller is validated through simulation tests, which are reported in detail. In turn, this part shows how to use the controllers to gain information about vehicle dynamics, thus describing an important relationship between the dynamics of the moving object and its motion control. The effects of mechanical couplings between variables describing vehicle motion due to inertial forces are also discussed. All in all, this book offers a timely guide and extensive information on nonlinear control schemes for unmanned marine and aerial vehicles. It covers specifically the simulation tests and is therefore meant as a starting point for engineers and researchers that would like to verify experimentally the suitability of the proposed models in real vehicles. Further, it also supports advanced-level students and educators in their courses on vehicle dynamics, control engineering and robotics.

Nonlinear Control of Robotic Systems for Environmental Waste and Restoration

D. M. Dawson,Michael M. Bridges,Zhihua Qu
Nonlinear Control of Robotic Systems for Environmental Waste and Restoration Book PDF

Author : D. M. Dawson,Michael M. Bridges,Zhihua Qu
Publisher : Prentice Hall
Page : 184 pages
File Size : 40,5 Mb
Release : 1995
Category : Technology & Engineering
ISBN : UOM:39015032188255

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Nonlinear Control of Robotic Systems for Environmental Waste and Restoration by D. M. Dawson,Michael M. Bridges,Zhihua Qu Pdf

This text focuses on the robust control of robotic manipulators, with special emphasis on the theoretical and implementational issues for environmental waste and restoration applications. The book has been written from a robot control engineering perspective.

Nonlinear Control and Filtering Using Differential Flatness Approaches

Gerasimos G. Rigatos
Nonlinear Control and Filtering Using Differential Flatness Approaches Book PDF

Author : Gerasimos G. Rigatos
Publisher : Springer
Page : 755 pages
File Size : 43,5 Mb
Release : 2015-06-05
Category : Technology & Engineering
ISBN : 9783319164205

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Nonlinear Control and Filtering Using Differential Flatness Approaches by Gerasimos G. Rigatos Pdf

This monograph presents recent advances in differential flatness theory and analyzes its use for nonlinear control and estimation. It shows how differential flatness theory can provide solutions to complicated control problems, such as those appearing in highly nonlinear multivariable systems and distributed-parameter systems. Furthermore, it shows that differential flatness theory makes it possible to perform filtering and state estimation for a wide class of nonlinear dynamical systems and provides several descriptive test cases. The book focuses on the design of nonlinear adaptive controllers and nonlinear filters, using exact linearization based on differential flatness theory. The adaptive controllers obtained can be applied to a wide class of nonlinear systems with unknown dynamics, and assure reliable functioning of the control loop under uncertainty and varying operating conditions. The filters obtained outperform other nonlinear filters in terms of accuracy of estimation and computation speed. The book presents a series of application examples to confirm the efficiency of the proposed nonlinear filtering and adaptive control schemes for various electromechanical systems. These include: · industrial robots; · mobile robots and autonomous vehicles; · electric power generation; · electric motors and actuators; · power electronics; · internal combustion engines; · distributed-parameter systems; and · communication systems. Differential Flatness Approaches to Nonlinear Control and Filtering will be a useful reference for academic researchers studying advanced problems in nonlinear control and nonlinear dynamics, and for engineers working on control applications in electromechanical systems.

Nonlinear Control of Wheeled Mobile Robots

Warren E. Dixon
Nonlinear Control of Wheeled Mobile Robots Book PDF

Author : Warren E. Dixon
Publisher : Unknown
Page : 224 pages
File Size : 40,8 Mb
Release : 2001-01-29
Category : Medical
ISBN : UOM:39015050725418

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Nonlinear Control of Wheeled Mobile Robots by Warren E. Dixon Pdf

This book examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined utilizing Lyapunov techniques. The performance of each controller is either illustrated through simulation results or experimental results. The final chapter describes how the control techniques developed for wheeled mobile robots can be applied to solve other problems with similar governing differential equations (e.g., twin rotor helicopters, surface vessels). Several appendices are included to provide the reader with the mathematical background utilized in the control development and stability analysis. Two appendices are also included that provide specific details with regard to the modifications that were done to commercially available mobile robots (e.g., a K2A manufactured by Cybermotion Inc. and a Pioneer II manufactured by Activemedia) to experimentally demonstrate the performance of the torque input controllers.