Nonlinear Control of Vehicles and Robots

by Béla Lantos, Lorinc Márton

Overview

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.

Product Details

ISBN-13:	9781447126188
Publisher:	Springer London
Publication date:	01/25/2013
Series:	Advances in Industrial Control
Edition description:	2011
Pages:	464
Product dimensions:	6.10(w) x 9.25(h) x 0.04(d)

About the Author

Professor Béla Lantos is based at Budapest University of Technology and Economics, and is lead researcher for leads many scientific grants related to robot and vehicle control. Currently, He leads the ‘Advanced Control Theory and Artificial Intelligence Techniques of Autonomous Ground, Aerial, and Marine Robots’ research group, financed by Hungarian National Research program under grant No. OTKA K 71762.

Lorinc Márton is an assistant lecturer at Sapientia Hungarian University of Transylvania and is a grantee of Janos Bolyai postdoctoral scholarship, financed by the Hungarian Academy of Sciences. He is also a senior researcher in the OTKA K 71762 research program.

Table of Contents

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.

Editorial Reviews

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)

From the Publisher