This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine...
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ISBN:
(数字)9783319553726
ISBN:
(纸本)9783319553719
This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.
This book introduces non-identifier-based adaptive control (with and without internal model) and its application to the current, speed and position control of mechatronic systems such as electrical synchronous machine...
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ISBN:
(数字)9783319550367
ISBN:
(纸本)9783319550343
This book introduces non-identifier-based adaptive control (with and without internal model) and its application to the current, speed and position control of mechatronic systems such as electrical synchronous machines, wind turbine systems, industrial servo systems, and rigid-link, revolute-joint robots. In mechatronics, there is often only rough knowledge of the system. Due to parameter uncertainties, nonlinearities and unknown disturbances, model-based control strategies can reach their performance or stability limits without iterative controller design and performance evaluation, or system identification and parameter estimation. The non-identifier-based adaptive control presented is an alternative that neither identifies the system nor estimates its parameters but ensures stability. The adaptive controllers are easy to implement, compensate for disturbances and are inherently robust to parameter uncertainties and nonlinearities. For controller implementation only structural system knowledge (like relative degree, input-to-state stable zero dynamics and known sign of the high-frequency gain) is required. Moreover, the presented controllers guarantee reference tracking with prescribed asymptotic or transient accuracy, i.e. the tracking error eventually tends to or for all time evolves within an a priori specified region. The book presents the theory, modeling and application in a general but detailed and self-contained manner, making it easy to read and understand, particularly for newcomers to the topics covered
In this chapter, we give a generalization of differential balancing method for model reduction of nonlinear systems in the direction to computation. We generalize concepts of differential controllability and observabi...
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The problem of estimating online the unknown period of a periodic signal is considered, with no a priori information on the period: this is a crucial problem in the design of learning and synchronizing controls, in fa...
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The role of invariant manifold in nonlinear control theory is reviewed. First, stable, center-stable and center manifold algorithms to compute flows on these manifolds are presented. Next, application results of the c...
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We revisit a model reduction method for detailed-balanced chemical reaction networks based on Kron reduction on the graph of complexes. The resulting reduced model preserves a number of important properties of the ori...
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The problem of modeling and control of multi-terminal high-voltage direct-current transmission systems is addressed in this chapter, which contains three main contributions. First, to propose a unified, physically mot...
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By means of examples, we study stability of infinite-dimensional linear and nonlinear systems. First we show that having a (strict) Lyapunov function does not imply asymptotic stability, even not for linear systems. S...
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In this article we analyze an optimal management problem that arises in ecological economics using hybrid systems modeling. First, we introduce a discounted autonomous infinite horizon hybrid optimal control problem a...
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