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Modeling And Control Of Vehicular And Robotic Systems
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Book Synopsis Modeling and Control of Vehicular and Robotic Systems by : Sisil Kumarawadu
Download or read book Modeling and Control of Vehicular and Robotic Systems written by Sisil Kumarawadu and published by Alpha Science International, Limited. This book was released on 2009 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modeling and Control of Vehicular and Robotic Systems provides a comprehensive coverage of mathematical modeling and model-based control of autonomous vehicular and robotic systems based on three broad application areas, namely, rigid robot systems (with special emphasis on active vision heads, which are rare in contemporary literature), ground vehicles, and surface vehicles. Two main drawbacks of classical methods of model based controller synthesis and implementation, i.e. the need of an accurate knowledge of the dynamics that is a strong requirement in practice and velocity feedback of all degrees-of-freedom are thoroughly addressed. To overcome these deficiencies, design and implementation issues of online adaptive neural networks-based dynamic compensators and controller-observer systems have been included. The related issues of modeling, controller design, stability analysis, sensor requirements and options, and numerical simulations are also presented.
Book Synopsis Vehicle-Manipulator Systems by : Pål Johan From
Download or read book Vehicle-Manipulator Systems written by Pål Johan From and published by Springer Science & Business Media. This book was released on 2013-10-02 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.
Book Synopsis Modelling and Control of Mechatronic and Robotic Systems by : Alessandro Gasparetto
Download or read book Modelling and Control of Mechatronic and Robotic Systems written by Alessandro Gasparetto and published by MDPI. This book was released on 2021-09-02 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: Currently, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia. The book encompasses the kinematic and dynamic modelling, analysis, design, and control of mechatronic and robotic systems, with the scope of improving their performance, as well as simulating and testing novel devices and control architectures. A broad range of disciplines and topics are included, such as robotic manipulation, mobile systems, cable-driven robots, wearable and rehabilitation devices, variable stiffness safety-oriented mechanisms, optimization of robot performance, and energy-saving systems.
Book Synopsis Nonlinear Control of Vehicles and Robots by : Béla Lantos
Download or read book Nonlinear Control of Vehicles and Robots written by Béla Lantos and published by Springer Science & Business Media. This book was released on 2010-12-01 with total page 479 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Robot Modeling and Control by : Mark W. Spong
Download or read book Robot Modeling and Control written by Mark W. Spong and published by John Wiley & Sons. This book was released on 2020-02-07 with total page 608 pages. Available in PDF, EPUB and Kindle. Book excerpt: A New Edition Featuring Case Studies and Examples of the Fundamentals of Robot Kinematics, Dynamics, and Control In the 2nd Edition of Robot Modeling and Control, students will cover the theoretical fundamentals and the latest technological advances in robot kinematics. With so much advancement in technology, from robotics to motion planning, society can implement more powerful and dynamic algorithms than ever before. This in-depth reference guide educates readers in four distinct parts; the first two serve as a guide to the fundamentals of robotics and motion control, while the last two dive more in-depth into control theory and nonlinear system analysis. With the new edition, readers gain access to new case studies and thoroughly researched information covering topics such as: ● Motion-planning, collision avoidance, trajectory optimization, and control of robots ● Popular topics within the robotics industry and how they apply to various technologies ● An expanded set of examples, simulations, problems, and case studies ● Open-ended suggestions for students to apply the knowledge to real-life situations A four-part reference essential for both undergraduate and graduate students, Robot Modeling and Control serves as a foundation for a solid education in robotics and motion planning.
Book Synopsis Intelligent Control of Robotic Systems by : D. Katic
Download or read book Intelligent Control of Robotic Systems written by D. Katic and published by Springer Science & Business Media. This book was released on 2013-03-14 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt: As robotic systems make their way into standard practice, they have opened the door to a wide spectrum of complex applications. Such applications usually demand that the robots be highly intelligent. Future robots are likely to have greater sensory capabilities, more intelligence, higher levels of manual dexter ity, and adequate mobility, compared to humans. In order to ensure high-quality control and performance in robotics, new intelligent control techniques must be developed, which are capable of coping with task complexity, multi-objective decision making, large volumes of perception data and substantial amounts of heuristic information. Hence, the pursuit of intelligent autonomous robotic systems has been a topic of much fascinating research in recent years. On the other hand, as emerging technologies, Soft Computing paradigms consisting of complementary elements of Fuzzy Logic, Neural Computing and Evolutionary Computation are viewed as the most promising methods towards intelligent robotic systems. Due to their strong learning and cognitive ability and good tolerance of uncertainty and imprecision, Soft Computing techniques have found wide application in the area of intelligent control of robotic systems.
Book Synopsis Modeling and Control of a Longitudinal Platoon of Ground Robotic Vehicles by : Zhichao Li
Download or read book Modeling and Control of a Longitudinal Platoon of Ground Robotic Vehicles written by Zhichao Li and published by . This book was released on 2016 with total page 311 pages. Available in PDF, EPUB and Kindle. Book excerpt: Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses several critical modeling, design and control objectives for ground vehicles. One central objective is formation of multi-robot systems, particularly, longitudinal control of platoon of ground vehicle. In this thesis, the author use low-cost ground robot platform shows that with leader information, the platoon controller can have better performance than one without it.Based on measurement from multiple vehicles, motor-wheel system dynamic model considering gearbox transmission has been developed. Noticing the difference between on ground vehicle behavior and off-ground vehicle behavior, on ground vehicle-motor model considering friction and battery internal resistance has been put forward and experimentally validated by multiple same type of vehicles. Then simplified longitudinal platoon model based on on-ground test were used as basis for platoon controller design.Hardware and software has been updated to facilitate the goal of control a platoon of ground vehicles. Based on previous work of Lin on low-cost differential-drive(DD) RC vehicles called Thunder Tumbler, new robot platform named EnhancedThunder Tumbler (ETT 2) has been developed with following improvement: (1) optical wheel-encoder which has 2.5 times higher resolution than magnetic based one,(2) BNO055 IMU can read out orientation directly that LSM9DS0 IMU could not,(3) TL-WN722N Wifi USB Adapter with external antenna which can support more stable communication compared to Edimax adapter, (4) duplex serial communication between Pi and Arduino than single direction communication from Pi to Arduino, (5) inter-vehicle communication based on UDP protocol. All demonstrations presented using ETT vehicles. The following summarizes key hardware demonstrations: (1) cruise-control along line, (2) longitudinal platoon control based on local information (ultrasonic sensor) without inter-vehicle communication, (3) longitudinal platoon control based on local information (ultrasonic sensor) and leader information (speed). Hardware data/video is compared with, and corroborated by, model-based simulations. Platoon simulation and hardware data reveals that with necessary information from platoon leader, the control effort will be reduced and space deviation be diminished among propagation along the fleet of vehicles. In short, many capabilities that are critical for reaching the longer-term FAME goal are demonstrated.
Book Synopsis Formation Control of Multiple Autonomous Vehicle Systems by : Hugh H. T. Liu
Download or read book Formation Control of Multiple Autonomous Vehicle Systems written by Hugh H. T. Liu and published by John Wiley & Sons. This book was released on 2018-07-04 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text explores formation control of vehicle systems and introduces three representative systems: space systems, aerial systems and robotic systems Formation Control of Multiple Autonomous Vehicle Systems offers a review of the core concepts of dynamics and control and examines the dynamics and control aspects of formation control in order to study a wide spectrum of dynamic vehicle systems such as spacecraft, unmanned aerial vehicles and robots. The text puts the focus on formation control that enables and stabilizes formation configuration, as well as formation reconfiguration of these vehicle systems. The authors develop a uniform paradigm of describing vehicle systems’ dynamic behaviour that addresses both individual vehicle’s motion and overall group’s movement, as well as interactions between vehicles. The authors explain how the design of proper control techniques regulate the formation motion of these vehicles and the development of a system level decision-making strategy that increases the level of autonomy for the entire group of vehicles to carry out their missions. The text is filled with illustrative case studies in the domains of space, aerial and robotics. • Contains uniform coverage of "formation" dynamic systems development • Presents representative case studies in selected applications in the space, aerial and robotic systems domains • Introduces an experimental platform of using laboratory three-degree-of-freedom helicopters with step-by-step instructions as an example • Provides open source example models and simulation codes • Includes notes and further readings that offer details on relevant research topics, recent progress and further developments in the field Written for researchers and academics in robotics and unmanned systems looking at motion synchronization and formation problems, Formation Control of Multiple Autonomous Vehicle Systems is a vital resource that explores the motion synchronization and formation control of vehicle systems as represented by three representative systems: space systems, aerial systems and robotic systems.
Book Synopsis Robot Dynamics And Control by : Mark W Spong
Download or read book Robot Dynamics And Control written by Mark W Spong and published by John Wiley & Sons. This book was released on 2008-08-04 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
Book Synopsis Introduction to Mobile Robot Control by : Spyros G Tzafestas
Download or read book Introduction to Mobile Robot Control written by Spyros G Tzafestas and published by Elsevier. This book was released on 2013-10-03 with total page 718 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background
Book Synopsis Simulation, Modeling, and Programming for Autonomous Robots by : Davide Brugali
Download or read book Simulation, Modeling, and Programming for Autonomous Robots written by Davide Brugali and published by Springer. This book was released on 2014-09-19 with total page 606 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, held in Bergamo, Italy, in October 2014. The 49 revised full papers presented were carefully reviewed and selected from 62 submissions. The papers are organized in topical sections on simulation, modeling, programming, architectures, methods and tools, and systems and applications.
Book Synopsis New Trends in Robot Control by : Jawhar Ghommam
Download or read book New Trends in Robot Control written by Jawhar Ghommam and published by Springer Nature. This book was released on 2020-02-13 with total page 382 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents solutions to control problems in a number of robotic systems and provides a wealth of worked-out examples with full analytical and numerical details, graphically illustrated to aid in reader comprehension. It also presents relevant studies on and applications of robotic system control approaches, as well as the latest findings from interdisciplinary theoretical studies. Featuring chapters on advanced control (fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis, and fault-tolerant control), the book will equip readers to easily tailor the techniques to their own applications. Accordingly, it offers a valuable resource for researchers, engineers, and students in the field of robotic systems.
Book Synopsis Dynamics, Integrated Control and Stability of Automated Road Vehicles by : Aleksandar Rodic
Download or read book Dynamics, Integrated Control and Stability of Automated Road Vehicles written by Aleksandar Rodic and published by . This book was released on 2002 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt: Motion control as well as control of vehicle's dynamic performance represents a very delicate and challenging task from the point of view of control system design. Namely, it is necessary to ensure that the control simultaneously satisfies several requirements such as: global stability, ride quality, ride comfort, minimal dynamic loads of the mechanical subsystems, low energy consumption, etc. The choice of the appropriate control strategy and the way of its realization represent a crucial problem the solution of which demands sufficiently deep knowledge of dynamic behaviour of road vehicle in various motion conditions. There are several books dealing with modelling and automotive control. However, the control algorithms described in them are prevailingly based on the so-called decentralized principle, using most often simplified, planar vehicle models and the common control techniques - robust local controllers. Thus, up to now, there has been no text considering the centralized approach to practical vehicle stability analysis. Because of that, the goal of this book is to stress out the importance of knowledge of vehicle dynamics, the benefits of implementation of the integrated control in advanced vehicle controllers, as well as the importance of system's stability analysis in the synthesis of dynamic control laws. Based on the entire vehicle dynamics, two novelties are introduced: (i) integrated dynamic control of road vehicles based on a centralized control approach and (ii) practical stability analysis of the vehicle system. The author: Dr. Aleksandar D. Rodic was born in Belgrade, Yugoslavia, in 1960. His main interest is in modelling, system identification, simulation and control of large-scale dynamic systems. His special interest includes design of integrated and intelligent control algorithms of road vehicles operating with driver assisted control systems. He is the author of more then 40 scientific papers in leading international journals and proceedings of scientific meetings. He is scientific consultant of several international journals. He is winner of the UNIDO/UNDP and of the Alexander von Humboldt Research Fellowship. Prof. Dr. Miomir K. Vukobratovic was born in Zrenjanin, Yugoslavia, 1931. His main interest is the development of efficient modelling of robotic systems' dynamics. Special interest is in modelling and control of legged locomotion robots and active systems. He is the author of more than 20 scientific books and monographs as well as more than 500 papers in world-recognized international journals or conference proceedings. He is a member of many international scientific committees. He is the President of the Yugoslav Engineering Academy, member of Serbian and foreign member of Russian Academy of Sciences. He is an honoured Professor and Doctor Honoris Causa of several universities. He is holder of several international awards for professional activities.
Book Synopsis Motion and Operation Planning of Robotic Systems by : Giuseppe Carbone
Download or read book Motion and Operation Planning of Robotic Systems written by Giuseppe Carbone and published by Springer. This book was released on 2015-03-12 with total page 520 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researchers in robotics, this book is also intended for researchers studying robotics control design, user interfaces, modelling, simulation, sensors, humanoid robotics.
Book Synopsis Modelling And Control Of Mechanisms And Robots by : Antonio Tornambe
Download or read book Modelling And Control Of Mechanisms And Robots written by Antonio Tornambe and published by World Scientific. This book was released on 1996-05-30 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume provides doctorate students and professionals with basic and advanced material on modelling and control of complex mechanical systems, with particular emphasis on robotic manipulators.
Book Synopsis Fractional Modeling and Controller Design of Robotic Manipulators by : Abhaya Pal Singh
Download or read book Fractional Modeling and Controller Design of Robotic Manipulators written by Abhaya Pal Singh and published by Springer Nature. This book was released on 2020-10-15 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.
Book Synopsis Focus on Robotics Research by : John X. Liu
Download or read book Focus on Robotics Research written by John X. Liu and published by Nova Publishers. This book was released on 2006 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics began as a science fiction creation which has become quite real, first in assembly line operations such as automobile manufacturing, aeroplane construction etc. They have now reached such areas as the internet, ever-multiplying-medical uses and sophisticated military applications. Control of today's robots is often remote which requires even more advanced computer vision capabilities as well as sensors and interface techniques. Learning has become crucial for modern robotic systems as well. This book brings together leading research in this exciting field.
