Modelling And Control Of An Autonomous Two Wheeled Vehicle
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Modelling And Control Of An Autonomous Two Wheeled Vehicle
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Author : Alen Turnwald
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2020-11-13
Modelling And Control Of An Autonomous Two Wheeled Vehicle written by Alen Turnwald and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-13 with Technology & Engineering categories.
With respect to the future urban mobility, modern electrical bicycles, advanced motorcycles and innovative two-wheeled vehicles are arresting enormous amount of attention. Especially, model-based control and optimal trajectory planning for such vehicles are important to the research and development of the future. Therefore, a reliable and yet usable vehicle model as well as a systematic approach to motion control for two-wheeled vehicles are essential, to which this work makes a contribution. Currently available two-wheeled vehicle models are mostly either too complex to be used for a systematic control synthesis, or too simple such that the physical behaviour of the vehicle is no more represented. In this thesis, a unifying approach to modelling and control for autonomous two-wheeled vehicles is presented. The resulting model is generally valid and physically detailed enough to represent the characteristic dynamical behaviour such as the self-stability. At the same time, it is suited to a systematic control synthesis. Furthermore, the systematic extenddability, for instance by a rider, is demonstrated. The model is validated by simulations and by comparison to well-known models from the literature. The proposed vehicle model is derived in the Lagrangian and Hamiltonian framework and used for model-based optimal trajectory planning. Furthermore, a passivity-based trajectory tracking controller is designed based on the resulting port-Hamiltonian system using the so-called generalised canonical transformations. Such a controller is physically interpretable and robust against parameter uncertainties. To this end, existing approaches of passivity-based controller design are extended and adjusted for two-wheeled vehicles. Finally, a prototype two-wheeled vehicle is introduced which is used for experimental validation of the model and to demonstrate motion control algorithms for autonomous two-wheeled vehicles.
Modelling Simulation And Control Of Two Wheeled Vehicles
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Author : Mara Tanelli
language : en
Publisher: John Wiley & Sons
Release Date : 2014-02-04
Modelling Simulation And Control Of Two Wheeled Vehicles written by Mara Tanelli and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-02-04 with Technology & Engineering categories.
Enhanced e-book includes videos Many books have been written on modelling, simulation and control of four-wheeled vehicles (cars, in particular). However, due to the very specific and different dynamics of two-wheeled vehicles, it is very difficult to reuse previous knowledge gained on cars for two-wheeled vehicles. Modelling, Simulation and Control of Two-Wheeled Vehicles presents all of the unique features of two-wheeled vehicles, comprehensively covering the main methods, tools and approaches to address the modelling, simulation and control design issues. With contributions from leading researchers, this book also offers a perspective on the future trends in the field, outlining the challenges and the industrial and academic development scenarios. Extensive reference to real-world problems and experimental tests is also included throughout. Key features: The first book to cover all aspects of two-wheeled vehicle dynamics and control Collates cutting-edge research from leading international researchers in the field Covers motorcycle control – a subject gaining more and more attention both from an academic and an industrial viewpoint Covers modelling, simulation and control, areas that are integrated in two-wheeled vehicles, and therefore must be considered together in order to gain an insight into this very specific field of research Presents analysis of experimental data and reports on the results obtained on instrumented vehicles. Modelling, Simulation and Control of Two-Wheeled Vehicles is a comprehensive reference for those in academia who are interested in the state of the art of two-wheeled vehicles, and is also a useful source of information for industrial practitioners.
Modelling Simulation And Control Of Two Wheeled Vehicles Enhanced Edition
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Author : Mara Tanelli
language : en
Publisher: John Wiley & Sons
Release Date : 2014-04-23
Modelling Simulation And Control Of Two Wheeled Vehicles Enhanced Edition written by Mara Tanelli and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-04-23 with Technology & Engineering categories.
Enhanced e-book includes videos Many books have been written on modelling, simulation and control of four-wheeled vehicles (cars, in particular). However, due to the very specific and different dynamics of two-wheeled vehicles, it is very difficult to reuse previous knowledge gained on cars for two-wheeled vehicles. Modelling, Simulation and Control of Two-Wheeled Vehicles presents all of the unique features of two-wheeled vehicles, comprehensively covering the main methods, tools and approaches to address the modelling, simulation and control design issues. With contributions from leading researchers, this book also offers a perspective on the future trends in the field, outlining the challenges and the industrial and academic development scenarios. Extensive reference to real-world problems and experimental tests is also included throughout. Key features: The first book to cover all aspects of two-wheeled vehicle dynamics and control Collates cutting-edge research from leading international researchers in the field Covers motorcycle control – a subject gaining more and more attention both from an academic and an industrial viewpoint Covers modelling, simulation and control, areas that are integrated in two-wheeled vehicles, and therefore must be considered together in order to gain an insight into this very specific field of research Presents analysis of experimental data and reports on the results obtained on instrumented vehicles. Modelling, Simulation and Control of Two-Wheeled Vehicles is a comprehensive reference for those in academia who are interested in the state of the art of two-wheeled vehicles, and is also a useful source of information for industrial practitioners.
Adaptive Mobile Robotics Proceedings Of The 15th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines
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Author : Mohammad Osman Tokhi
language : en
Publisher: World Scientific
Release Date : 2012-07-11
Adaptive Mobile Robotics Proceedings Of The 15th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Mohammad Osman Tokhi and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-07-11 with Technology & Engineering categories.
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Adaptive Mobile Robotics
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Author : Abul K. M. Azad
language : en
Publisher: World Scientific
Release Date : 2012
Adaptive Mobile Robotics written by Abul K. M. Azad and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012 with Technology & Engineering categories.
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Machine Learning For Robotics Applications
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Author : Monica Bianchini
language : en
Publisher: Springer Nature
Release Date : 2021-04-23
Machine Learning For Robotics Applications written by Monica Bianchini and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-04-23 with Technology & Engineering categories.
Machine learning has become one of the most prevalent topics in recent years. The application of machine learning we see today is a tip of the iceberg. The machine learning revolution has just started to roll out. It is becoming an integral part of all modern electronic devices. Applications in automation areas like automotive, security and surveillance, augmented reality, smart home, retail automation and healthcare are few of them. Robotics is also rising to dominate the automated world. The future applications of machine learning in the robotics area are still undiscovered to the common readers. We are, therefore, putting an effort to write this edited book on the future applications of machine learning on robotics where several applications have been included in separate chapters. The content of the book is technical. It has been tried to cover all possible application areas of Robotics using machine learning. This book will provide the future vision on the unexplored areas of applications of Robotics using machine learning. The ideas to be presented in this book are backed up by original research results. The chapter provided here in-depth look with all necessary theory and mathematical calculations. It will be perfect for laymen and developers as it will combine both advanced and introductory material to form an argument for what machine learning could achieve in the future. It will provide a vision on future areas of application and their approach in detail. Therefore, this book will be immensely beneficial for the academicians, researchers and industry project managers to develop their new project and thereby beneficial for mankind. Original research and review works with model and build Robotics applications using Machine learning are included as chapters in this book.
Robotic Manipulators And Vehicles
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Author : Gerasimos Rigatos
language : en
Publisher: Springer
Release Date : 2018-05-24
Robotic Manipulators And Vehicles written by Gerasimos Rigatos and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-05-24 with Technology & Engineering categories.
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.
Proceedings Of 4th 2024 International Conference On Autonomous Unmanned Systems 4th Icaus 2024
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Author : Lianqing Liu
language : en
Publisher: Springer Nature
Release Date : 2025-03-30
Proceedings Of 4th 2024 International Conference On Autonomous Unmanned Systems 4th Icaus 2024 written by Lianqing Liu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-03-30 with Technology & Engineering categories.
This book includes original, peer-reviewed research papers from the 4th ICAUS 2024, which provides a unique and engaging platform for scientists, engineers and practitioners from all over the world to present and share their most recent research results and innovative ideas. The 4th ICAUS 2024 aims to stimulate researchers working in areas relevant to intelligent unmanned systems. Topics covered include but are not limited to: Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and their Application in Unmanned Systems. The papers presented here share the latest findings in unmanned systems, robotics, automation, intelligent systems, control systems, integrated networks, modelling and simulation. This makes the book a valuable resource for researchers, engineers and students alike.
Emerging Trends In Mobile Robotics Proceedings Of The 13th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines
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Author : Hiromi Mochiyama
language : en
Publisher: World Scientific
Release Date : 2010-08-23
Emerging Trends In Mobile Robotics Proceedings Of The 13th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Hiromi Mochiyama and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-08-23 with Technology & Engineering categories.
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2010 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Emerging Trends In Mobile Robotics
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Author : Hideo Fujimoto
language : en
Publisher: World Scientific
Release Date : 2010
Emerging Trends In Mobile Robotics written by Hideo Fujimoto and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Technology & Engineering categories.
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2010 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.