Adaptive Robust Control for Planar Snake Robots

Author: Joyjit Mukherjee

Publisher: Springer Nature


Category: Technology & Engineering

Page: 168

View: 332

This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods. The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrates how the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion. Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.

Adaptive-Robust Control with Limited Knowledge on Systems Dynamics

An Artificial Input Delay Approach and Beyond

Author: Spandan Roy

Publisher: Springer Nature


Category: Technology & Engineering

Page: 144

View: 175

The book investigates the role of artificial input delay in approximating unknown system dynamics, referred to as time-delayed control (TDC), and provides novel solutions to current design issues in TDC. Its central focus is on designing adaptive-switching gain-based robust control (ARC) for a class of Euler–Lagrange (EL) systems with minimal or no knowledge of the system dynamics parameters. The newly proposed TDC-based ARC tackles the commonly observed over- and under-estimation issues in switching gain. The consideration of EL systems lends a practical perspective on the proposed methods, and each chapter is supplemented by relevant experimental data. The book offers a unique resource for researchers in the areas of ARC and TDC alike, and covers the state of the art, new algorithms, and future directions.

Handbook of Research on Biomimetics and Biomedical Robotics

Author: Habib, Maki

Publisher: IGI Global


Category: Technology & Engineering

Page: 532

View: 305

Biomimetic research is an emerging field that aims to draw inspiration and substances from natural sources and create biological systems in structure, mechanism, and function through robotics. The products have a wide array of application including surgical robots, prosthetics, neurosurgery, and biomedical image analysis. The Handbook of Research on Biomimetics and Biomedical Robotics provides emerging research on robotics, mechatronics, and the application of biomimetic design. While highlighting mechatronical challenges in today’s society, readers will find new opportunities and innovations in design capabilities in intelligent robotics and interdisciplinary biomedical products. This publication is a vital resource for senior and graduate students, researchers, and scientists in engineering seeking current research on best ways to globally expand online higher education.

Handbook of Marine Craft Hydrodynamics and Motion Control

Author: Thor I. Fossen

Publisher: John Wiley & Sons


Category: Science

Page: 736

View: 315

Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: Lecture notes: Author’s home page:

Intelligent Computing and Optimization

Proceedings of the 2nd International Conference on Intelligent Computing and Optimization 2019 (ICO 2019)

Author: Pandian Vasant

Publisher: Springer Nature


Category: Technology & Engineering

Page: 693

View: 896

This book presents the outcomes of the second edition of the International Conference on Intelligent Computing and Optimization (ICO) – ICO 2019, which took place on October 3–4, 2019, in Koh Samui, Thailand. Bringing together research scholars, experts, and investigators from around the globe, the conference provided a platform to share novel research findings, recent advances and innovative applications in the field. Discussing the need for smart disciplinary processes embedded into interdisciplinary collaborations in the context of meeting the growing global populations’ requirements, such as food and health care, the book highlights the role of intelligent computation and optimization as key technologies in decision-making processes and in providing cutting edge solutions to real-world problems.

Lagrangian and Hamiltonian Methods for Nonlinear Control 2003

A Proceedings Volume from the 2nd IFAC Workshop, Seville, Spain, 3-5 April, 2003

Author: A Astolfi

Publisher: Elsevier


Category: Mathematics

Page: 305

View: 616

This is the second of a series of IFAC Workshops initiated in 2000. The first one chaired and organized by Profs. N. Leonard and R. Ortega, was held in Princeton in March 2000. This proceedings volume looks at the role-played by Lagrangian and Hamiltonian methods in disciplines such as classical mechanics, quantum mechanics, fluid dynamics, electrodynamics, celestial mechanics and how such methods can be practically applied in the control community. *Presents and illustrates new approaches to nonlinear control that exploit the Lagrangian and Hamiltonian structure of the system to be controlled *Highlights the important role of Lagrangian and Hamiltonian Structures as design methods

Index to IEEE Publications

Author: Institute of Electrical and Electronics Engineers



Category: Electrical engineering


View: 766

Recent Advances in Mechatronics - 1999

Author: Okyay Kaynak

Publisher: Springer


Category: Science

Page: 608

View: 925

This is an interdisciplinary conference involved with the synergistic integration of mechanical engineering with electronics and intelligent computer control for design and manufacture of products and processes. Topics include: (1) mechatronics design, (2) distributed systems, (3) vision and sensors, (4) robots and mobile machines, (5) vibration and control, (6) computational intelligence in mechatronics, (7) embedded real time systems, (8) micro-mechatronics, (9) motion control, (10) hardware/software co-design, and (11) intelligent manufacturing systems.

Control and Mechatronics

Author: Bodgan Wilamowski

Publisher: CRC Press


Category: Technology & Engineering

Page: 728

View: 553

The Industrial Electronics Handbook, Second Edition combines traditional and newer, more specialized knowledge that will help industrial electronics engineers develop practical solutions for the design and implementation of high-power applications. Embracing the broad technological scope of the field, this collection explores fundamental areas, including analog and digital circuits, electronics, electromagnetic machines, signal processing, and industrial control and communications systems. It also facilitates the use of intelligent systems—such as neural networks, fuzzy systems, and evolutionary methods—in terms of a hierarchical structure that makes factory control and supervision more efficient by addressing the needs of all production components. Enhancing its value, this fully updated collection presents research and global trends as published in the IEEE Transactions on Industrial Electronics Journal, one of the largest and most respected publications in the field. Control and Mechatronics presents concepts of control theory in a way that makes them easily understandable and practically useful for engineers or students working with control system applications. Focusing more on practical applications than on mathematics, this book avoids typical theorems and proofs and instead uses plain language and useful examples to: Concentrate on control system analysis and design, comparing various techniques Cover estimation, observation, and identification of the objects to be controlled—to ensure accurate system models before production Explore the various aspects of robotics and mechatronics Other volumes in the set: Fundamentals of Industrial Electronics Power Electronics and Motor Drives Industrial Communication Systems Intelligent Systems