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Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach de Ranjan Vepa

Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach

Autor Ranjan Vepa
en Limba Engleză Hardback – 23 aug 2016
Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.
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Specificații

ISBN-13: 9781498767040
ISBN-10: 1498767044
Pagini: 562
Ilustrații: 150
Dimensiuni: 210 x 280 x 33 mm
Greutate: 2.02 kg
Ediția:1
Editura: CRC Press
Colecția CRC Press

Public țintă

Professional Practice & Development

Cuprins

Lagrangian Methods for Robot Manipulators. Unmanned Aerial Vehicles (UAV) Dynamics & Lagrangian Methods. Feedback Linearisation & Decoupling. Linear and Phase Plane Analysis of Stability. Robot & UAV Control: An Overview. Stability. Lyapunov Stability. Computed Torque Control. Sliding Mode Control. Parameter Identification. Adaptive & Model Predictive Control. Lyapunov Design: The Back-stepping Approach. Hybrid Position & Force Control. UAV Control.

Recenzii

"In one volume Vepa has done a very good job of concisely presenting methodologies and theories for realising the control of unmanned aerial vehicles and robots. It is written in such a way that is easy to understand and hence apply. It is like a toolkit of methodologies and equations to understand various Robot platform problems and challenges as well as control theories and approaches one could bring to bear to solve them in various scenarios. It is also a good book for those who are interested in model based design of control systems.
The way the book is written enables a reader to read each chapter independently thereby making it suited for a quick read to learn a concept or brush up on one’s knowledge. I believe this book will appeal to a wide readership of industrial engineers as well as academics interested in extending the frontiers of control theory on UAVs and Robots."
— The Aeronautical Journal, May 2018 Issue

Notă biografică

Dr. Ranjan Vepa earned his PhD in applied mechanics from Stanford University, Stanford, California, specialising in the area of aeroelasticity under the guidance of the late Professor Holt Ashley. He currently serves as a Reader in Aerospace Engineering in the School of Engineering and Material Science, Queen Mary University of London, where he has also been the programme director of the Avionics Programme since 2001. He is the author of seven books titled: Electric Aircraft Dynamics: A Systems Engineering Approach (CRC Press, 2020), Dynamics and Control of Autonomous Space Vehicles and Robotics (2019), Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach (CRC Press, 2016), Flight Dynamics Simulation and Control of Aircraft: Rigid and Flexible (CRC Press, 2014), Dynamic Modelling, Simulation and Control of Energy Generation (2013), Dynamics of Smart Structures (2010) and Biomimetic Robotics: Mechanisms and Control (2009).
His research interests include the design of control systems, and associated signal processing with applications in aerospace systems, smart structures, robotics, biomedical engineering, and energy systems. In particular, the research interests include dynamics and robust adaptive estimation and control of linear and nonlinear aerospace, energy systems, including renewable and sustainable energy and desalination systems with parametric and dynamic uncertainties. Dr. Vepa is a member of the Royal Aeronautical Society, London; the Institution of Electrical and Electronic Engineers (IEEE), New York; a fellow of the Higher Education Academy; a member of the Royal Institute of Navigation, London; and a chartered engineer.

Descriere

Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach provides a step-by step-approach to designing control systems for robot manipulators and unmanned aerial vehicles (UAVs). Integration of sophisticated control technology is vital to the design of new emerging mobile vehicles, such as personal air vehicles (PAVs) and the next generation of UAVs. Similar technologies are used in robotic manipulators, such as the PUMA range now used in automated manufacturing systems. This book shows the similarities within unmanned aerial vehicle and robotic system design, and will serve as a vital resource in the design of new products and systems.