Dynamic Simulation And Control Of An Autonomous Surface Vehicle
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Dynamic Simulation And Control Of An Autonomous Surface Vehicle
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Author : Tannen S. VanZwieten
language : en
Publisher:
Release Date : 2003
Dynamic Simulation And Control Of An Autonomous Surface Vehicle written by Tannen S. VanZwieten and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003 with Adaptive control systems categories.
Dynamics Based Linearization And Control Of An Autonomous Ground Vehicle
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Author : Mohammad Eghtesad
language : en
Publisher:
Release Date : 1996
Dynamics Based Linearization And Control Of An Autonomous Ground Vehicle written by Mohammad Eghtesad and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1996 with categories.
Several aspects of dynamics based motion control of autonomous ground vehicles have been studied. For example kinematic and dynamic modelling of the vehicle, path and motion planning, path following and trajectory tracking, stabilization to a manifold and a to a desired position with specified orientation have been considered. Assuming the (ideal) rolling without slipping conditions for a wheel imposes the nonholonomic (non-integrable) constraints on the motion of the wheel and the vehicle. Nonholonomic systems are found not to be asymptotically stabilizable by a smooth state feedback laws. In this research, first, kinematics and Newtonian dynamics of a tricycle with front wheel steering and driving are developed and then using the concepts of Lagrange equations of the first kind, the dynamic models of the tricycle in the form of x = f(x,u) with torque inputs are derived. Nonlinear control theory and input-output feedback linearization as a systematic approach have been applied on these dynamic models of the vehicle. Cartesian space feedback linearization is utilized for trajectory tracking and asymptotic stabilization to a one dimensional manifold and simulation results are provided. Curvilinear space feedback linearization approach for asymptotic stabilization of two outputs with open-loop control of the third planar variable using a planned path between two end positions and orientations has been verified by simulations and implemented on an experimental setup. Internal dynamics of the system has been investigated, and its dimension, state variable and stability have been analysed.
Dynamics And Control Of Autonomous Space Vehicles And Robotics
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Author : Ranjan Vepa
language : en
Publisher: Cambridge University Press
Release Date : 2019-05-02
Dynamics And Control Of Autonomous Space Vehicles And Robotics written by Ranjan Vepa and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-05-02 with Science categories.
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.
Advanced Autonomous Vehicle Design For Severe Environments
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Author : V.V. Vantsevich
language : en
Publisher: IOS Press
Release Date : 2015-10-20
Advanced Autonomous Vehicle Design For Severe Environments written by V.V. Vantsevich and has been published by IOS Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-10-20 with Technology & Engineering categories.
Classical vehicle dynamics, which is the basis for manned ground vehicle design, has exhausted its potential for providing novel design concepts to a large degree. At the same time, unmanned ground vehicle (UGV) dynamics is still in its infancy and is currently being developed using general analytical dynamics principles with very little input from actual vehicle dynamics theory. This technical book presents outcomes from the NATO Advanced Study Institute (ASI) ‘Advanced Autonomous Vehicle Design for Severe Environments’, held in Coventry, UK, in July 2014. The ASI provided a platform for world class professionals to meet and discuss leading-edge research, engineering accomplishments and future trends in manned and unmanned ground vehicle dynamics, terrain mobility and energy efficiency. The outcomes of this collective effort serve as an analytical foundation for autonomous vehicle design. Topics covered include: historical aspects, pivotal accomplishments and the analysis of future trends in on- and off-road manned and unmanned vehicle dynamics; terramechanics, soil dynamic characteristics, uncertainties and stochastic characteristics of vehicle-environment interaction for agile vehicle dynamics modeling; new methods and techniques in on-line control and learning for vehicle autonomy; fundamentals of agility and severe environments; mechatronics and cyber-physics issues of agile vehicle dynamics to design for control, energy harvesting and cyber security; and case studies of agile and inverse vehicle dynamics and vehicle systems design, including optimisation of suspension and driveline systems. The book targets graduate students, who desire to advance further in leading-edge vehicle dynamics topics in manned and unmanned ground vehicles, PhD students continuing their research work and building advanced curricula in academia and industry, and researchers in government agencies and private companies.
Inertial Quasi Velocity Based Controllers For A Class Of Vehicles
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Author : Przemyslaw Herman
language : en
Publisher: Springer Nature
Release Date : 2022-02-26
Inertial Quasi Velocity Based Controllers For A Class Of Vehicles written by Przemyslaw Herman and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-02-26 with Technology & Engineering categories.
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.
Autonomous Underwater Vehicles
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Author : Sabiha Wadoo
language : en
Publisher: CRC Press
Release Date : 2017-12-19
Autonomous Underwater Vehicles written by Sabiha Wadoo and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-12-19 with Technology & Engineering categories.
Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.
Advances In Unmanned Marine Vehicles
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Author : G.N. Roberts
language : en
Publisher: IET
Release Date : 2006-01-31
Advances In Unmanned Marine Vehicles written by G.N. Roberts and has been published by IET this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006-01-31 with Technology & Engineering categories.
Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.
Design And Advanced Robust Chassis Dynamics Control For X By Wire Unmanned Ground Vehicle
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Author : Jun NI
language : en
Publisher: Morgan & Claypool Publishers
Release Date : 2018-01-04
Design And Advanced Robust Chassis Dynamics Control For X By Wire Unmanned Ground Vehicle written by Jun NI and has been published by Morgan & Claypool Publishers this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-01-04 with Technology & Engineering categories.
X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.
Dynamics And Advanced Motion Control Of Off Road Ugvs
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Author : Yue Ma
language : en
Publisher: Academic Press
Release Date : 2020-08-06
Dynamics And Advanced Motion Control Of Off Road Ugvs written by Yue Ma and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-08-06 with Technology & Engineering categories.
Dynamics and Advanced Motion Control of Unmanned Ground Off-Road Vehicles details both theoretical concepts such as planning and perception when working with UGVs, as well as more practical, hands-on aspects such as torque vectoring control. The book also covers related technologies such as intelligent and electrification of ground vehicles. After an introduction, initial chapters include an exploration of wheel-soil and track-soil interaction mechanisms, motion stability, motion control, fault detection and identification, and fault tolerance control. This book offers readers a detailed understanding of Unmanned Ground Vehicles by combining theory, applications and further developments. Topics are covered in such a way that readers will be well versed on the current field of UGVs and will be able to implement future design and research in a feasible and effective way. Gives a comprehensive analysis and introduction to the dynamics and advanced motion control of unmanned ground off-road vehicles Covers key related technology concepts, such as intelligent and electrification of ground vehicles Details the entire control framework of off-road UGVs and the implementation of controller design
Fundamental Design And Automation Technologies In Offshore Robotics
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Author : Hamid Reza Karimi
language : en
Publisher: Academic Press
Release Date : 2020-10-06
Fundamental Design And Automation Technologies In Offshore Robotics written by Hamid Reza Karimi and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-10-06 with Computers categories.
Fundamental Design and Automation Technologies in Offshore Robotics introduces technological design, modelling, stability analysis, control synthesis, filtering problem and real time operation of robotics vehicles in offshore environments. The book gives numerical and simulation results in each chapter to reflect the engineering practice yet demonstrate the focus of the developed analysis and synthesis approaches. The book is ideal to be used as a reference book for senior and graduate students. It is written in a way that the presentation is simple, clear, and easy to read and understand which would be appreciated by graduate students. Researchers working on marine vehicles and robotics would be able to find reference material on related topics from the book. The book could be of a significant interest to the researchers within offshore and deep see society, including both academic and industrial parts. Provides a series of latest results in, including but not limited to, motion control, robotics, and multi-vehicle systems towards offshore environment Presents recent advances of theory, technological aspects, and applications of robotics in offshore environment Offers a comprehensive and up-to-date references, which plays an indicative role for further study of the reader