Download or read book Dynamics and Nonlinear Adaptive Control of an Autonomous Unicycle written by David William Vos and published by . This book was released on 1989 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: Studies the dynamics and active control of a mechanical unicycle with the human rider replaced by a turntable. The unicycle equations of motion are derived, linear in all states except yaw rate which is not considered a perturbation quantity. Using the specialized linear equations with yaw rate also linearized, the dynamics of the open loop system are studied and shown to decouple into longitudinal and lateral systems for zero turntable angular velocity, and linear controllers are proposed for stabilization. The systems reduce to lower order models by exploitation of the time scale separation of the open loop dynamics. A variation of the LQG control design method is derived and used in both the lateral and longitudinal controller designs. This method allows recovery of LQ regulator inner loop without use of pole zero cancellation strategy, hence potentially offering greater parameter uncertainty robustness. The lateral controller is continuously gain scheduled and implemented in a bang-bang setting in order to deal with coulomb friction effects between the tire and the ground. An estimation algorithm is defined to continuously determine estimates of the friction and hence adapt the bang-bang control algorithm.
Download or read book Dynamics of the Unicycle written by Michał Niełaczny and published by Springer. This book was released on 2018-07-02 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.
Download or read book Nonlinear Control of an Autonomous Unicycle Robot written by David William Vos and published by . This book was released on 1992 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Dynamics and Optimal Control of Road Vehicles written by D. J. N. Limebeer and published by Oxford University Press. This book was released on 2018-08-23 with total page 480 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamics and Optimal Control of Road Vehicles uniquely offers a unified treatment of tyre, car and motorcycle dynamics, and the application of nonlinear optimal control to vehicle-related problems within a single book. This is a comprehensive and accessible text that emphasises the theoretical aspects of vehicular modelling and control. The book focuses on two major elements. The first is classical mechanics and its use in building vehicle and tyre dynamics models. The second focus is nonlinear optimal control, which is used to solve a range of minimum-time and minimum-fuel, as well as track curvature reconstruction problems. As is known classically, all of this material is bound together by the calculus of variations and stationary principles. The treatment of this material is supplemented with a number of examples that were designed to highlight obscurities and subtleties in the theory.
Download or read book Masters Theses in the Pure and Applied Sciences written by Wade H. Shafer and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 421 pages. Available in PDF, EPUB and Kindle. Book excerpt: Masters Theses in the Pure and Applied Sciences was first conceived, published, and disseminated by the Center for Information and Numerical Data Analysis and Synthesis (CINDAS) * at Purdue University in 1957, starting its coverage of theses with the academic year 1955. Beginning with Volume 13, the printing and dissemination phases of the activity were transferred to University Microfilms/Xerox of Ann Arbor, Michigan, with the thought that such an arrangement would be more beneficial to the academic and general scientific and technical community. After five years of this joint undertaking we had concluded that it was in the interest of all con cerned if the printing and distribution of the volumes were handled by an interna tional publishing house to assure improved service and broader dissemination. Hence, starting with Volume 18, Masters Theses in the Pure and Applied Sciences has been disseminated on a worldwide basis by Plenum Publishing Cor poration of New York, and in the same year the coverage was broadened to include Canadian universities. All back issues can also be ordered from Plenum. We have reported in Volume 34 (thesis year 1989) a total of 13,377 theses titles from 26 Canadian and 184 United States universities. We are sure that this broader base for these titles reported will greatly enhance the value of this important annual reference work. While Volume 34 reports theses submitted in 1989, on occasion, certain univer sities do report theses submitted in previous years but not reported at the time.
Download or read book Industrial and Robotic Systems written by Eusebio E. Hernandez and published by Springer Nature. This book was released on 2020-05-13 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume gathers the latest advances, innovations, and applications in the field of robotics engineering, as presented by leading international researchers and engineers at the Latin American Symposium on Industrial and Robotic Systems (LASIRS), held in Tampico, Mexico on October-November 30-01 2019. The contributions cover all major areas of R&D and innovation in simulation, optimization, and control of robotics, such as design and optimization of robots using numerical and metaheuristic methods, autonomous and control systems, industrial compliance solutions, numerical simulations for manipulators and robots, metaheuristics applied to robotics problems, Industry 4.0, control and automation in petrochemical processes, simulation and control in aerospace and aeronautics, and education in robotics. The conference represented a unique platform to share the latest research and developments in simulation, control and optimization of robotic systems, and to promote cooperation among specialists in machine and mechanism area.
Download or read book A Collection of Technical Papers written by and published by . This book was released on 1990 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Manufacturing Science and Technology ICMST2011 written by Wu Fan and published by Trans Tech Publications Ltd. This book was released on 2011-11-22 with total page 8340 pages. Available in PDF, EPUB and Kindle. Book excerpt: Volume is indexed by Thomson Reuters CPCI-S (WoS). The objective of ICMST 2011 was to provide a platform where researchers, engineers, academics and industrial professionals from all over the world could present their research results and discuss developments in Manufacturing Science and Technology. This conference provided opportunities for delegates to exchange new ideas and applications face-to-face, to establish business or research contacts and to find global partners for future collaboration.
Download or read book Course Notes written by and published by . This book was released on 1995 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Wheeled Mobile Robot Control written by Nardênio Almeida Martins and published by Springer Nature. This book was released on 2021-08-12 with total page 209 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
Download or read book International Aerospace Abstracts written by and published by . This book was released on 1997 with total page 498 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Non linear Adaptive Control of Dynamics and Kinematics of Robot Manipulation written by Agop Jean Georges.* Apkarian and published by . This book was released on 1984 with total page 116 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings of 1995 IEEE International Conference on Robotics and Automation May 21 27 1995 Nagoya Aichi Japan written by IEEE Robotics and Automation Society and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1995 with total page 1014 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive and Fault Tolerant Control of Underactuated Nonlinear Systems written by Jiangshuai Huang and published by CRC Press. This book was released on 2017-12-22 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of the book is to provide an exposition of recently developed adaptive and fault-tolerant control of underactuated nonlinear systems. Underactuated systems are abundant in real life, ranging from landing vehicles to surface ships and underwater vehicles to spacecrafts. For the tracking and stabilization control of underactuated mechanical systems, many methodologies have been proposed. However, a number of important issues deserve further investigation. In response to these issues, four important problems are solved in this book, including control of underactuated nonlinear systems with input saturation, output-feedback control in the presence of parametric uncertainties, fault-tolerant control of underactuated ships with or without actuator redundancy, and adaptive control of multiple underactauted nonlinear systems, including formation control and flocking control of multiple underactuated systems.
Download or read book JSME International Journal written by and published by . This book was released on 1995 with total page 922 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Multi Agent Systems written by Ricardo Lopez-Ruiz and published by BoD – Books on Demand. This book was released on 2020-04-22 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research on multi-agent systems is enlarging our future technical capabilities as humans and as an intelligent society. During recent years many effective applications have been implemented and are part of our daily life. These applications have agent-based models and methods as an important ingredient. Markets, finance world, robotics, medical technology, social negotiation, video games, big-data science, etc. are some of the branches where the knowledge gained through multi-agent simulations is necessary and where new software engineering tools are continuously created and tested in order to reach an effective technology transfer to impact our lives. This book brings together researchers working in several fields that cover the techniques, the challenges and the applications of multi-agent systems in a wide variety of aspects related to learning algorithms for different devices such as vehicles, robots and drones, computational optimization to reach a more efficient energy distribution in power grids and the use of social networks and decision strategies applied to the smart learning and education environments in emergent countries. We hope that this book can be useful and become a guide or reference to an audience interested in the developments and applications of multi-agent systems.
