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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Inertial Quasi-Velocity Based Controllers for a Class of Vehicles: With Simulation Applications for Underwater Vehicles, Hovercrafts, and Indoor Airsh

Inertial Quasi-Velocity Based Controllers for a Class of Vehicles: With Simulation Applications for Underwater Vehicles, Hovercrafts, and Indoor Airsh

Herman, Przemyslaw

Paperback

Series: Springer Tracts in Mechanical Engineering

Technology & Engineering

ISBN10: 3030946495
ISBN13: 9783030946494
Publisher: Springer Nature
Published: Feb 28 2023
Pages: 374
Weight: 1.22
Height: 0.81 Width: 6.14 Depth: 9.21
Language: English

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.

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