Nonlinear control of vehicles and robots
type: Item
instance of: scholarly article
title: Nonlinear control of vehicles and robots
zbMATH Open document ID: 1236.93002
DOI: 10.1007/978-1-84996-122-6
author: Béla Lantos
author: Lőrinc Márton
published in: Advances in Industrial Control
publication date: 2010-09-29T00:00:00Z
review text: Control techniques are indispensable in the design of robots and modern vehicles. Using feedback control, the safety and efficiency of these mechanical systems can considerably be improved. In order to achieve good control performances, the mathematical model of the controlled mechanical system has to be taken into consideration during control algorithm design. The dynamic models of vehicles and robots are nonlinear. The presented book first briefly outlines the most important nonlinear control algorithms that can be applied for the control of mechanical systems. The very first requirement of each control system is the closed loop stability. This is the reason why the stability analysis methods for nonlinear systems are presented in detail. Basic nonlinear control methods (feedback linearization, backstepping, sliding control, receding horizon control) that can be applied for mechanical systems are also reviewed. For efficient controller design, the knowledge of the dynamic model of controlled mechanical system is inevitable. A framework for the modeling of vehicles and robots is introduced. Starting from the dynamic model of rigid bodies, the mechanical models of robotic manipulators, ground, aerial and marine vehicles are presented. The nonlinear effects that appear in the models of different mechanical systems are discussed. The control of robots and different type of vehicles is discussed in separate chapters. The model based tracking control of robotic manipulators is addressed in different approaches. Firstly it is assumed that the parameters of the mathematical model of the robotic system are known. For such systems the classical robot control methods (such as cascade control, nonlinear decoupling and hybrid position/force control) are presented. For the control of robots with unknown parameters selftuning, adaptive control is proposed. If the robot prescribes a path including sharp corners, backstepping control techniques are suggested. The ground vehicles g…
Mathematics Subject Classification ID: 93-02
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 70Q05
zbMATH DE Number: 5793300
zbMATH Keywords: mechanical models of robotic manipulators
zbMATH Keywords: cascade control
zbMATH Keywords: nonlinear decoupling
zbMATH Keywords: hybrid position/force control
zbMATH Keywords: adaptive control
zbMATH Keywords: backstepping control
reviewed by: Bozhidar Cheshankov
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1007/978-1-84996-122-6
OpenAlex ID: W634260532
description: scientific article; zbMATH DE number 5793300