Nonlinear control of vehicles and robots
著者
書誌事項
Nonlinear control of vehicles and robots
（Advances in industrial control）
Springer, c2011
- : hbk
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注記
Includes bibliographical references and index
内容説明・目次
内容説明
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.
目次
Introduction.- Basic Nonlinear Control Methods.- Dynamic Models of Ground, Aerial and Marine Robots.- Nonlinear Control of Industrial Robots.- Nonlinear Control of Cars.- Nonlinear Control of Airplanes and Helicopters.- Nonlinear Control of Surface Ships.- Formation Control of Vehicles.- Modeling Mechanical Systems with Non-smooth Nonlinearities.- Mechanical Control Systems with Non-smooth Nonlinearities.- Model-based Identification and Adaptive Compensation of Non-smooth Nonlinearities.- Conclusions and Future Research Directions.- Appendices.
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