Nonlinear control of vehicles and robots:
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
London
Springer
2011
|
| Schriftenreihe: | Advances in industrial control
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis Klappentext |
| Beschreibung: | Includes bibliographical references (p. 447-453) and index |
| Beschreibung: | XXVIII, 459 S. graph. Darst. |
| ISBN: | 9781849961219 |
Internformat
MARC
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| 245 | 1 | 0 | |a Nonlinear control of vehicles and robots |c Béla Lantos ; Lőrinc Márton |
| 264 | 1 | |a London |b Springer |c 2011 | |
| 300 | |a XXVIII, 459 S. |b graph. Darst. | ||
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| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Advances in industrial control | |
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| 650 | 4 | |a Nonlinear control theory | |
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Datensatz im Suchindex
| _version_ | 1804151416058544128 |
|---|---|
| adam_text | Contents
Introduction
................................ 1
1.1 Basic Notions,
Background
..................... 1
1.2
A Short History
...........................
З
1.3
Control Systems for Vehicles and Robots, Research Motivation
. . 5
1.4
Outline of the Following Chapters
.................. 7
Basic Nonlinear Control Methods
.................... 11
2.1
Nonlinear System Classes
...................... 11
2.1.1
State Equation of Nonlinear Systems
............ 12
2.1.2
Holonomic and Nonholonomic Systems
.......... 15
2.1.3
Differentially Flat Systems
................. 24
2.2
Dynamic Model of Simple Systems
................. 30
2.2.1
Dynamic Model of Inverted Pendulum
........... 30
2.2.2
Car Active Suspension Model
................ 33
2.2.3
The Model of the
2
DOF
Robot Arm
............ 35
2.3
Stability of Nonlinear Systems
................... 38
2.3.1
Stability Definitions
..................... 39
2.3.2
Lyapunov Stability Theorems
................ 40
2.3.3
Barbalat Lemmas
...................... 47
2.3.4
Stability of Interconnected Passive Systems
......... 49
2.4
Input—Output Linearization
..................... 54
2.5
Flatness Control
........................... 57
2.6
Backstepping
............................. 60
2.7
Sliding Control
............................ 64
2.7.1
Sliding Control of Second Order Systems
.......... 65
2.7.2
Control Chattering
...................... 67
2.7.3
Sliding Control of Robot
.................. 70
2.8
Receding Horizon Control
...................... 71
2.8.1
Nonlinear Receding Horizon Control
............ 72
2.8.2
Nonlinear RHC Control of 2D Crane
............ 74
2.8.3
RHC Based on Linearization at Each Horizon
....... 76
2.9
Closing Remarks
........................... 76
XVII
xviii Contents
3 Dynamic Models
of Ground,
Aerial and Marine Robots
....... 81
3.1
Dynamic Model of Rigid Body...................
81
3.1.1
Dynamic Model Based on Newton-Euler Equations
.... 82
3.1.2
Kinematic Model Using
Euler (RPY)
Angles
........ 84
3.1.3
Kinematic Model Using Quaternion
............. 85
3.2
Dynamic Model of Industrial Robot
................. 86
3.2.1
Recursive Computation of the Kinematic Quantities
.... 87
3.2.2
Robot Dynamic Model Based on Appell s Equation
.... 89
3.2.3
Robot Dynamic Model Based on Lagrange s Equation
... 92
3.2.4
Dynamic Model of
SCARA
Robot
............. 94
3.3
Dynamic Model of Car
....................... 98
3.3.1
Nonlinear Model of Car
................... 99
3.3.2
Input
Affine
Approximation of the Dynamic Model
.... 102
3.3.3
Linearized Model for Constant Velocity
........... 103
3.4
Dynamic Model of Airplane
..................... 104
3.4.1
Coordinate Systems for Navigation
............. 104
3.4.2
Airplane Kinematics
..................... 108
3.4.3
Airplane Dynamics
..................... 109
3.4.4
Wind-Axes Coordinate System
...............
Ill
3.4.5
Gravity Effect
........................ 112
3.4.6
Aerodynamic Forces and Torques
.............. 113
3.4.7
Gyroscopic Effect of Rotary Engine
............. 116
3.4.8
State Equations of Airplane
................. 116
3.4.9
Linearization of the Nonlinear Airplane Model
....... 118
3.4.10
Parametrization of Aerodynamic and Trust Forces
and Moments
........................119
3.5
Dynamic Model of Surface and Underwater Ships
.........121
3.5.1
Rigid Body Equation of Ship
................ 121
3.5.2
Ну
drodynamic Forces and Moments
............ 123
3.5.3
Restoring Forces and Moments
............... 124
3.5.4
Ballast Systems
....................... 126
3.5.5
Wind, Wave and Current Models
.............. 126
3.5.6
Kinematic Model
...................... 130
3.5.7
Dynamic Model in Body Frame
............... 130
3.5.8
Dynamic Model in NED Frame
............... 131
3.6
Closing Remarks
........................... 132
4
Nonlinear Control of Industrial Robots
.................135
4.1
Decentralized Three-Loop Cascade Control
.............135
4.1.1
Dynamic Model of DC Motor
................ 135
4.1.2
Design of Three-Loop Cascade Controller
......... 138
4.1.3
Approximation of Load Inertia and Disturbance Torque
. . 143
4.2
Computed Torque Technique
.................... 144
4.3
Nonlinear Decoupling in Cartesian Space
.............. 145
4.3.1
Computation of Equivalent Forces and Torques
....... 146
Contents xix
4.3.2
Computation
of Equivalent
Joint
Torques
.......... 147
4.3.3 Robot Dynamic Model in
Cartesian
Space......... 147
4.3.4
Nonlinear Decoupling of the Free
Motion.......... 148
4.4
Hybrid Position and Force Control
................. 149
4.4.1
Generalized Task Specification Matrices
.......... 150
4.4.2
Hybrid Position/Force Control Law
............. 151
4.5
Self-Tuning Adaptive Control
.................... 152
4.5.1
Independent Parameters of Robot Dynamic Model
..... 152
4.5.2
Control and Adaptation Laws
................ 154
4.5.3
Simulation Results for 2-DOF Robot
............ 156
4.5.4
Identification Strategy
.................... 156
4.6
Robust Backstepping Control in Case of Nonsmooth Path
..... 158
4.6.1
Gradient Update Laws for Speed Error
........... 159
4.6.2
Control of 2-DOF Robot Arm Along Rectangle Path
. ... 160
4.7
Closing Remarks
........................... 166
5
Nonlinear Control of Cars
........................
1
69
5.1
Control Concept of Collision Avoidance System (CAS)
...... 169
5.2
Path Design Using Elastic Band
................... 170
5.3
Reference Signal Design for Control
................ 172
5.4
Nonlinear Dynamic Model
..................... 174
5.5
Differential Geometry Based Control Algorithm
.......... 175
5.5.1
External State Feedback Design
............... 176
5.5.2
Stability Proof of Zero Dynamics
.............. 178
5.5.3
Simulation Results Using DGA Method
.......... 181
5.6
Receding Horizon Control
...................... 182
5.6.1
Nominal Values and Perturbations
.............. 184
5.6.2
RHC Optimization Using End Constraint
.......... 186
5.7
State Estimation Using GPS and
IMU
................ 189
5.8
Simulation Results with RHC Control and State Estimation
.... 192
5.9
Software Implementations
...................... 192
5.9.1
Standalone Programs
.................... 193
5.9.2
Quick Prototype Design for Target Processors
....... 195
5.10
Closing Remarks
........................... 195
6
Nonlinear Control of Airplanes and Helicopters
............ 199
6.1
Receding Horizon Control of the Longitudinal Motion
of an Airplane
............................ 199
6.1.1
Robust Internal Stabilization Using Disturbance Observer
. 201
6.1.2
High Level Receding Horizon Control
........... 203
6.1.3
Simulation Results with External RHC and Internal
Disturbance Observer
.................... 208
6.2
Backstepping Control of an Indoor Quadrotor Helicopter
..... 213
6.2.1
Dynamic Model of the Quadrotor Helicopter
........ 215
6.2.2
Sensor System of the Helicopter
............... 217
xx Contents
6.2.3 State
Estimation Using
Vision and
Inerţial
Measurements
. 226
6.2.4
Backstepping Control Algorithm
..............230
6.2.5
Embedded Control Realization
...............236
6.3
Closing Remarks
...........................241
7
Nonlinear Control of Surface Ships
...................245
7.1
Control System Structure
......................245
7.1.1
Reference Path Design
....................247
7.1.2
Line-of-Sight Guidance
...................247
7.1.3
Filtering Wave Disturbances
.................248
7.1.4
State Estimation Using
IMU
and GPS
............249
7.2
Acceleration Feedback and Nonlinear PD
..............254
7.3
Nonlinear Decoupling
........................255
7.3.1
Nonlinear Decoupling in Body Frame
............255
7.3.2
Nonlinear Decoupling in NED Frame
............256
7.4
Adaptive Feedback Linearization
..................257
7.5
MIMO
Backstepping in
6
DOF
...................259
7.6
Constrained Control Allocation
...................262
7.7
Simulation Results
..........................263
7.8
Closing Remarks
...........................267
8
Formation Control of Vehicles
......................269
8.1
Selected Approaches in Formation Control of Vehicles
.......269
8.2
Stabilization of Ground Vehicles Using Potential Field Method
. . 270
8.2.1
Low Level Linearizing Controller
.............. 270
8.2.2
High Level Formation Controller
.............. 272
8.2.3
Passivity Based Formation Stabilization
.......... 275
8.3
Simulation Results for UGVs
.................... 276
8.4
Stabilization of Marine Vehicles Using Passivity Theory
...... 277
8.4.1
Problem Formulation for Synchronized Path Following
. . 278
8.4.2
Control Structure
...................... 279
8.4.3
Stability Proof Based on Passivity Theory
......... 280
8.5
Simulation Results for UMVs
.................... 283
8.6
Closing Remarks
........................... 287
9
Modeling Nonsmooth Nonlinearities in Mechanical Systems
.....291
9.1
Modeling and Stability of Nonsmooth Systems
...........291
9.1.1
Modeling and Stability of Switched Systems
........ 292
9.1.2
Modeling, Solution and Stability of Differential Inclusions
. 295
9.2
Static Friction Models
.............. 298
9.2.1
Stick-Slip Motion
......................301
9.2.2
Friction-Induced Dead Zone
.................303
9.3
Dynamic Friction Models
................. 304
9.3.1
Classic Dynamic Friction Models
..............304
9.3.2
Modified and Advanced Dynamic Friction Models
.....308
9.4
Piecewise Linearly Parameterized Friction Model
........ 310
Contents xxi
9.4.1 Parameter
Equivalence with the Tustin Model
....... 312
9.4.2
Modeling Errors
....................... 313
9.4.3
Incorporating the Dynamic Effects
............. 313
9.5
Backlash in Mechanical Systems
.................. 314
9.6
Closing Remarks
........................... 317
10
Mechanical Control Systems with Nonsmooth Nonlinearities
..... 319
10.1
Switched System Model of Mechanical Systems with Stribeck
Friction and Backlash
........................ 319
10.2
Motion Control
........................... 321
10.2.1
Stabilizing Control
...................... 322
10.2.2
Extension of the Control Law for Tracking
......... 326
10.2.3
Simulation Results
...................... 327
10.3
Friction and Backlash Induced Limit Cycle Around Zero Velocity
. 330
10.3.1
Chaotic Measures for Nonlinear Analysis
.......... 333
10.3.2
Simulation Measurements
.................. 334
10.4
Friction Generated Limit Cycle Around Stribeck Velocities
.... 336
10.4.1
Simulation Results
...................... 339
10.4.2
Experimental Measurements
................ 339
10.5
Closing Remarks
........................... 341
11
Model Based Identification and Adaptive Compensation
of Nonsmooth Nonlinearities
....................... 343
11.1
Friction and Backlash Measurement and
Identification
in Robotic
Manipulators
............................. 343
11.1.1
Friction Measurement and Identification
.......... 345
11.1.2
Backlash Measurement
................... 346
11.1.3
Velocity Control for Measurements
............. 347
11.1.4
Experimental Measurements
................ 349
11.2
Friction Measurement and Identification in Hydraulic Actuators
. . 355
11.2.1
Mathematical Model of Hydraulic Actuators
........ 356
11.2.2
Friction Measurement and Identification
.......... 358
11.2.3
Experimental Measurements
................ 359
11.3
Nonlinear Control of a Ball and Beam System Using Coulomb
Friction Compensation
........................ 363
11.3.1
Adaptive Friction Identification
............... 366
11.3.2
Nonlinear Control Algorithm for the Ball and Beam System
367
11.3.3
Experimental Evaluations
.................. 368
11.4
Adaptive Payload and Friction Compensation in Robotic
Manipulators
............................. 371
11.4.1
Simulation Results
—
Adaptive Friction Compensation
in the Presence of Backlash
................. 377
11.4.2
Experimental Measurements
................ 379
11.5
Closing Remarks
........................... 382
xxii
Contents
12
Conclusions and Future Research Directions
............. 385
12.1
Summary
............................... 385
12.2
Future Research Directions
..................... 387
Appendix A Kinematic and Dynamic Foundations of Physical Systems
. 389
A.I Orientation Description Using Rotations and Quaternion
...... 389
A.
1.1
Homogeneous Transformations
............... 389
A.
1.2
Orientation Description Using Rotations
.......... 391
A.
1.3
Orientation Description Using Quaternion
......... 393
A.
1.4
Solution of the Inverse Orientation Problem
........ 394
A.2 Differentiation Rule in Moving Coordinate System
......... 396
A.3 Inertia Parameters of Rigid Objects
................. 398
A.4
Lagrange, Appell
and Newton-Euler Equations
........... 400
A.4.
1 Lagrange
Equation
...................... 402
A.4.2
Appell
Equation
....................... 403
A.4.3 Newton-Euler Equations
.................. 404
A.
5
Robot Kinematics
.......................... 406
A.5.1 Denavit-Hartenberg Form
.................. 406
A.
5.2
Direct Kinematic Problem
.................. 408
A.5.3 Inverse Kinematic Problem
................. 410
A-5.4 Robot Jacobian
........................ 411
Appendix
В
Basis of Differential Geometry for Control Problems
. ... 417
B.I Lie Derivatives, Submanifold, Tangent Space
............ 417
B.2 Frobenius Theorem
......................... 422
B.3 Local Reachability and Observability
................ 428
B.4 Input/Output Linearization, Zero Dynamics
............. 439
References
................................... 447
Index
........................................ 455
Bela
Lantos
·
Lőrinc Márton
Nonlinear Control of Vehicles and Robots
Tracking of autonomous vehicles and the high-precision positioning of robotic
manipulators require advanced modeling techniques and control algorithms. Controller
design should take into account any model nonlinearities.
Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic
modeling of robots in terrestrial, aerial and marine environments. To begin with, the
main classes of nonlinear systems and stability methods are summarized. Basic nonlin¬
ear control methods useful in manipulator and vehicle control
-
linearization, backstep-
ping, sliding-mode and receding-horizon control
-
are presented. Formation control
of ground robots and ships is discussed.
The second
pari
of the book deals with the modeling and control of robotic systems in
the presence of non-smooth nonlinearities including analysis of their influence on the
performance of motion control systems. Robust adaptive tracking control of robotic
systems with unknown payload and friction in the presence of uncertainties is treated.
Theoretical (guaranteed
stabilit),
guaranteed tracking precision, boundedness of all
signals in the control loop) and practical (implementability) 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 such as Inertia! Measurement System, Global Positioning
System and vision systems as part of the control system.
Nonlinear Control of Vehicles ami Robots will interest academic researchers studying
the control ot robots and industrial research and development engineers and graduate
students wishing to become familiar with modern control algorithms and modeling
techniques for the most common mechatronics systems: vehicles and robots.
Advances in Industrial Control aims to report and encourage the transfer of technology
in
contro]
engineering. The rapid development of control technology has an impact
on ail areas of the control discipline. The series offers an opportunity for researchers to
present an extended exposition of new work in all aspects of industrial control.
Engineering
ISBN
978-1-84996-121-9
78 1849
►
springer.com
|
| any_adam_object | 1 |
| author | Lantos, Béla Márton, Lőrinc |
| author_facet | Lantos, Béla Márton, Lőrinc |
| author_role | aut aut |
| author_sort | Lantos, Béla |
| author_variant | b l bl l m lm |
| building | Verbundindex |
| bvnumber | BV041342189 |
| callnumber-first | T - Technology |
| callnumber-label | TJ211 |
| callnumber-raw | TJ211.35 |
| callnumber-search | TJ211.35 |
| callnumber-sort | TJ 3211.35 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ZQ 5224 ZQ 9940 |
| ctrlnum | (OCoLC)723546986 (DE-599)BVBBV041342189 |
| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV041342189 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T00:54:28Z |
| institution | BVB |
| isbn | 9781849961219 |
| language | English |
| lccn | 2011377980 |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-026790937 |
| oclc_num | 723546986 |
| open_access_boolean | |
| owner | DE-703 DE-83 |
| owner_facet | DE-703 DE-83 |
| physical | XXVIII, 459 S. graph. Darst. |
| publishDate | 2011 |
| publishDateSearch | 2011 |
| publishDateSort | 2011 |
| publisher | Springer |
| record_format | marc |
| series2 | Advances in industrial control |
| spelling | Lantos, Béla Verfasser aut Nonlinear control of vehicles and robots Béla Lantos ; Lőrinc Márton London Springer 2011 XXVIII, 459 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Advances in industrial control Includes bibliographical references (p. 447-453) and index Robots Control systems Nonlinear control theory Nichtlineare Regelung (DE-588)4132964-8 gnd rswk-swf Fahrzeug (DE-588)4016320-9 gnd rswk-swf Leittechnik (DE-588)4246578-3 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Antriebsregelung (DE-588)4142753-1 gnd rswk-swf Mathematisches Modell (DE-588)4114528-8 gnd rswk-swf Fahrdynamik (DE-588)4016278-3 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 s Bahnplanung (DE-588)4267628-9 s Nichtlineare Regelung (DE-588)4132964-8 s DE-604 Fahrzeug (DE-588)4016320-9 s Fahrdynamik (DE-588)4016278-3 s Antriebsregelung (DE-588)4142753-1 s Mathematisches Modell (DE-588)4114528-8 s Leittechnik (DE-588)4246578-3 s Márton, Lőrinc Verfasser aut Erscheint auch als Online-Ausgabe 978-1-84996-122-6 Digitalisierung UB Bayreuth - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026790937&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis Digitalisierung UB Bayreuth - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026790937&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA Klappentext |
| spellingShingle | Lantos, Béla Márton, Lőrinc Nonlinear control of vehicles and robots Robots Control systems Nonlinear control theory Nichtlineare Regelung (DE-588)4132964-8 gnd Fahrzeug (DE-588)4016320-9 gnd Leittechnik (DE-588)4246578-3 gnd Mobiler Roboter (DE-588)4191911-7 gnd Antriebsregelung (DE-588)4142753-1 gnd Mathematisches Modell (DE-588)4114528-8 gnd Fahrdynamik (DE-588)4016278-3 gnd Bahnplanung (DE-588)4267628-9 gnd |
| subject_GND | (DE-588)4132964-8 (DE-588)4016320-9 (DE-588)4246578-3 (DE-588)4191911-7 (DE-588)4142753-1 (DE-588)4114528-8 (DE-588)4016278-3 (DE-588)4267628-9 |
| title | Nonlinear control of vehicles and robots |
| title_auth | Nonlinear control of vehicles and robots |
| title_exact_search | Nonlinear control of vehicles and robots |
| title_full | Nonlinear control of vehicles and robots Béla Lantos ; Lőrinc Márton |
| title_fullStr | Nonlinear control of vehicles and robots Béla Lantos ; Lőrinc Márton |
| title_full_unstemmed | Nonlinear control of vehicles and robots Béla Lantos ; Lőrinc Márton |
| title_short | Nonlinear control of vehicles and robots |
| title_sort | nonlinear control of vehicles and robots |
| topic | Robots Control systems Nonlinear control theory Nichtlineare Regelung (DE-588)4132964-8 gnd Fahrzeug (DE-588)4016320-9 gnd Leittechnik (DE-588)4246578-3 gnd Mobiler Roboter (DE-588)4191911-7 gnd Antriebsregelung (DE-588)4142753-1 gnd Mathematisches Modell (DE-588)4114528-8 gnd Fahrdynamik (DE-588)4016278-3 gnd Bahnplanung (DE-588)4267628-9 gnd |
| topic_facet | Robots Control systems Nonlinear control theory Nichtlineare Regelung Fahrzeug Leittechnik Mobiler Roboter Antriebsregelung Mathematisches Modell Fahrdynamik Bahnplanung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026790937&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026790937&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT lantosbela nonlinearcontrolofvehiclesandrobots AT martonlorinc nonlinearcontrolofvehiclesandrobots |