About this book
Tracking of autonomous vehicles and the high-precision positioning of robotic manipulators require advanced modeling techniques and control algorithms. Controller design should take into account any model nonlinearities.
Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. To begin with, the main classes of nonlinear systems and stability methods are summarized. Basic nonlinear control methods useful in manipulator and vehicle control – linearization, backstepping, sliding-mode and receding-horizon control – are presented. Formation control of ground robots and ships is discussed.
The second part of the book deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities including analysis of their influence on the performance of motion control systems. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated.
Theoretical (guaranteed stability, guaranteed tracking precision, boundedness of all signals in the control loop) and practical (implementability) 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 such as Inertial Measurement System, Global Positioning System and vision systems as part of the control system.
Nonlinear Control of Vehicles and Robots will interest academic researchers studying the control of robots and industrial research and development engineers and graduate students wishing to become familiar with modern control algorithms and modeling techniques for the most common mechatronics systems: vehicles and robot manipulators.
- Book Title Nonlinear Control of Vehicles and Robots
- Series Title Advances in Industrial Control
- Series Abbreviated Title Advances in Industrial Control
- DOI https://doi.org/10.1007/978-1-84996-122-6
- Copyright Information Springer-Verlag London Limited 2011
- Publisher Name Springer, London
- eBook Packages Engineering Engineering (R0)
- Hardcover ISBN 978-1-84996-121-9
- Softcover ISBN 978-1-4471-2618-8
- eBook ISBN 978-1-84996-122-6
- Series ISSN 1430-9491
- Series E-ISSN 2193-1577
- Edition Number 1
- Number of Pages XXVIII, 464
- Number of Illustrations 0 b/w illustrations, 0 illustrations in colour
Control and Systems Theory
Robotics and Automation
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From the reviews:
“The presented book first briefly outlines the most important nonlinear control algorithms that can be applied for the control of mechanical systems. … The book is aimed at researchers who are interested in modern control algorithms and advanced modeling techniques of the most common mechatronic systems: vehicles and robots.” (Bojidar Cheshankov, Zentralblatt MATH, Vol. 1236, 2012)