Inertial quasi-velocity based controllers for a class of vehicles : with simulation applications for underwater vehicles, hovercrafts, and indoor airships / Przemyslaw Herman.
2022
TL152.8
Linked e-resources
Linked Resource
Online Access
Concurrent users
Unlimited
Authorized users
Authorized users
Document Delivery Supplied
Can lend chapters, not whole ebooks
Details
Title
Inertial quasi-velocity based controllers for a class of vehicles : with simulation applications for underwater vehicles, hovercrafts, and indoor airships / Przemyslaw Herman.
Author
Herman, Przemysław, author.
ISBN
9783030946470 (electronic bk.)
3030946479 (electronic bk.)
9783030946463 (print)
3030946460
3030946479 (electronic bk.)
9783030946463 (print)
3030946460
Published
Cham, Switzerland : Springer, 2022.
Language
English
Description
1 online resource (xx, 374 pages) : illustrations (some color).
Item Number
10.1007/978-3-030-94647-0 doi
Call Number
TL152.8
Dewey Decimal Classification
629.8/932
Summary
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.
Bibliography, etc. Note
Includes bibliographical references.
Access Note
Access limited to authorized users.
Source of Description
Online resource; title from PDF title page (SpringerLink, viewed March 3, 2022).
Series
Springer tracts in mechanical engineering, 2195-9870
Available in Other Form
Print version: 9783030946463
Linked Resources
Online Access
Record Appears in
Online Resources > Ebooks
All Resources
All Resources