Inertial quasi-velocity based controllers for a class of vehicles. With simulation applications for underwater vehicles, hovercrafts, and indoor airships (Q2077738)

In the present book, moving systems are considered whose dynamics can be described by such equations of motion, which can then be used for model-based control purposes. Autonomous vehicles like: ground vehicles, marine vehicles. aerial vehicles, and others are of a great interest from research and industry. For this reason, in this book, the following categories of vehicles are taken into account: i) autonomous underwater vehicles; ii) autonomous unmanned hovercrafts which move in the air and belong to planar vehicles (similarly as ships or surface vessels); iii) autonomous unmanned airships which belong to lighter than air robots (LTAR). As a result, the external generalized forces must be taken into account. There exist many control strategies for unmanned systems. Here, the focus is on the model-based control to show the relationship between the vehicle model and the control algorithms. However, other approaches used for the same purpose are also mentioned in this book. The theory of nonholonomic mechanical systems, nonholonomic (pseudo-, quasi-) coordinates, and inertial quasi-velocities (IQV), are the theoretical base in the considerations. The monograph consists of 13 chapters and the appendix, namely: Ch.1 Introduction; Ch. 2 Models of Underwater Vehicles; Ch. 3 Models of Hovercrafts and Vehicles in Horizontal Motion; Ch. 4 Models of Airships; Ch. 5 Various Control Strategies; Ch. 6 IQV Based PD Control in Body-Fixed Frame; Ch. 7 IQV Position and Velocity Tracking Control in Body-Fixed Frame; Ch. 8 IQV Velocity Tracking Control in Body-Fixed Frame; Ch. 9 IQV Position and Velocity Tracking Control in Earth-Fixed Frame; Ch. 10 IQV Position and Velocity Tracking Control with Adaptive Term in Body-Fixed Frame; Ch. 11 IQV Velocity Tracking Control with Adaptive Term in Body-Fixed Frame; Ch. 12 IQV Position and Velocity Tracking Control with Adaptive Term in Earth-Fixed Frame; Ch. 13 Vehicle Dynamics Study Based on Nonlinear Controllers Conclusions and Perspectives; Appendix: IQV Equations, Formulas, Vehicle Models. The book is intended for students and scientists and should be of interest to practicing and research engineers as well as Ph.D. students in the field of motion control of mobile systems with non-trivial dynamics.