Nonlinear Control Of Vehicles And Robots PDF Download
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| Author | : Béla Lantos |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 479 |
| Release | : 2010-12-01 |
| Genre | : Technology & Engineering |
| ISBN | : 1849961220 |
Download Nonlinear Control of Vehicles and Robots Book in PDF, ePub and Kindle
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.
| Author | : Ranjan Vepa |
| Publisher | : CRC Press |
| Total Pages | : 544 |
| Release | : 2016-10-14 |
| Genre | : Technology & Engineering |
| ISBN | : 1498767052 |
Download Nonlinear Control of Robots and Unmanned Aerial Vehicles Book in PDF, ePub and Kindle
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.
| Author | : Gerasimos Rigatos |
| Publisher | : Springer |
| Total Pages | : 734 |
| Release | : 2018-05-24 |
| Genre | : Technology & Engineering |
| ISBN | : 331977851X |
Download Robotic Manipulators and Vehicles Book in PDF, ePub and Kindle
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.
| Author | : Ranjan Vepa |
| Publisher | : CRC Press |
| Total Pages | : 704 |
| Release | : 2016-10-14 |
| Genre | : Technology & Engineering |
| ISBN | : 1315350300 |
Download Nonlinear Control of Robots and Unmanned Aerial Vehicles Book in PDF, ePub and Kindle
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.
| Author | : Reza Olfati-Saber |
| Publisher | : |
| Total Pages | : 632 |
| Release | : 2001 |
| Genre | : |
| ISBN | : |
Download Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehicles Book in PDF, ePub and Kindle
| Author | : Aman Behal |
| Publisher | : CRC Press |
| Total Pages | : 389 |
| Release | : 2009-12-17 |
| Genre | : Computers |
| ISBN | : 1420006274 |
Download Lyapunov-Based Control of Robotic Systems Book in PDF, ePub and Kindle
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
| Author | : Timothy Matthew Josserand |
| Publisher | : |
| Total Pages | : |
| Release | : 2006 |
| Genre | : Remote submersibles |
| ISBN | : |
Download Optimally-robust Nonlinear Control of a Class of Robotic Underwater Vehicles Book in PDF, ePub and Kindle
| Author | : Warren E. Dixon |
| Publisher | : Springer |
| Total Pages | : 198 |
| Release | : 2014-03-12 |
| Genre | : Technology & Engineering |
| ISBN | : 9781447139607 |
Download Nonlinear Control of Wheeled Mobile Robots Book in PDF, ePub and Kindle
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.
| Author | : Yuan F Zheng |
| Publisher | : World Scientific |
| Total Pages | : 384 |
| Release | : 1994-01-14 |
| Genre | : Computers |
| ISBN | : 9814502812 |
Download Recent Trends In Mobile Robots Book in PDF, ePub and Kindle
This book presents recent trends in the field as perceived by a global selection of researchers and experts. Subjects covered include motion planning of mobile robots in unknown environments, coordination between mobility and manipulability, computation environments for mobile robots, nonlinear control of mobile robots and environmental modeling using advanced sensing technologies. Issues ranging from progress in applications to fundamental problems are discussed.
| Author | : Khac Duc Do |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 402 |
| Release | : 2009-08-09 |
| Genre | : Technology & Engineering |
| ISBN | : 184882730X |
Download Control of Ships and Underwater Vehicles Book in PDF, ePub and Kindle
Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors’ systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following. Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.
