Gerald Cook Mobile Robots. Navigation, Control and Remote Sensing

Gerald Cook Mobile Robots. Navigation, Control and Remote Sensing

An important feature of this book is the particular combination of topics included. These are (1) control, (2) navigation and (3) remote sensing, all with application to mobile robots. Much of the material is readily extended to any type ground vehicle. In the controls area, robot steering is the issue. Both linear and nonlinear models are treated. Various control schemes are utilized, and through these applications the reader is introduced to methods such as: (1) Linearization and use of linear control design methods for control about a reference trajectory, (2) Use of Lyapunov stability theory for nonlinear control design, (3) Derivation of optimal control strategies via Pontryagin’s maximum principle, (4) Derivation of a local coordinate system which is fundamental for the steering of vehicles along a path never before traversed. This local coordinate system has application regardless of the control design methods utilized. In the navigation area, various coordinate systems are introduced, and the transformations among them are derived. (1) The Global Positioning System (GPS) is introduced and described in significant detail. (2) Also introduced and discussed are inertial navigation systems (INS). These two methods are treated in terms of their ability to provide vehicle position as well as attitude. A preceding chapter is devoted to coordinate rotations and transformations since they play an important role in the understanding of this body of theory.

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Yu-Ping Tian Frequency-Domain Analysis and Design of Distributed Control Systems

Yu-Ping Tian Frequency-Domain Analysis and Design of Distributed Control Systems

This book presents a unified frequency-domain method for the analysis of distributed control systems. The following important topics are discussed by using the proposed frequency-domain method: (1) Scalable stability criteria of networks of distributed control systems; (2) Effect of heterogeneous delays on the stability of a network of distributed control system; (3) Stability of Internet congestion control algorithms; and (4) Consensus in multi-agent systems. This book is ideal for graduate students in control, networking and robotics, as well as researchers in the fields of control theory and networking who are interested in learning and applying distributed control algorithms or frequency-domain analysis methods.

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Mahmoud Magdi S. Analysis and Synthesis of Fault-Tolerant Control Systems

Mahmoud Magdi S. Analysis and Synthesis of Fault-Tolerant Control Systems

In recent years, control systems have become more sophisticated in order to meet increased performance and safety requirements for modern technological systems. Engineers are becoming more aware that conventional feedback control design for a complex system may result in unsatisfactory performance, or even instability, in the event of malfunctions in actuators, sensors or other system components. In order to circumvent such weaknesses, new approaches to control system design have emerged which can tolerate component malfunctions while maintaining acceptable stability and performance. These types of control systems are often known as fault-tolerant control systems (FTCS). More precisely, FTCS are control systems which possess the ability to accommodate component failure automatically. Analysis and Synthesis of Fault-Tolerant Control Systems comprehensively covers the analysis and synthesis methods of fault tolerant control systems. It unifies the methods for developing controllers and filters for a wide class of dynamical systems and reports on the recent technical advances in design methodologies. MATLAB® is used throughout the book, to demonstrate methods of analysis and design. Key features: • Provides advanced theoretical methods and typical practical applications • Provides access to a spectrum of control design methods applied to industrial systems • Includes case studies and illustrative examples • Contains end-of-chapter problems Analysis and Synthesis of Fault-Tolerant Control Systems is a comprehensive reference for researchers and practitioners working in this area, and is also a valuable source of information for graduates and senior undergraduates in control, mechanical, aerospace, electrical and mechatronics engineering departments.

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Seung-Ki Sul Control of Electric Machine Drive Systems

Seung-Ki Sul Control of Electric Machine Drive Systems

A unique approach to sensorless control and regulator design of electric drives Based on the author's vast industry experience and collaborative works with other industries, Control of Electric Machine Drive Systems is packed with tested, implemented, and verified ideas that engineers can apply to everyday problems in the field. Originally published in Korean as a textbook, this highly practical updated version features the latest information on the control of electric machines and apparatus, as well as a new chapter on sensorless control of AC machines, a topic not covered in any other publication. The book begins by explaining the features of the electric drive system and trends of development in related technologies, as well as the basic structure and operation principles of the electric machine. It also addresses steady state characteristics and control of the machines and the transformation of physical variables of AC machines using reference frame theory in order to provide a proper foundation for the material. The heart of the book reviews several control algorithms of electric machines and power converters, explaining active damping and how to regulate current, speed, and position in a feedback manner. Seung-Ki Sul introduces tricks to enhance the control performance of the electric machines, and the algorithm to detect the phase angle of an AC source and to control DC link voltages of power converters. Topics also covered are: Vector control Control algorithms for position/speed sensorless drive of AC machines Methods for identifying the parameters of electric machines and power converters The matrix algebra to model a three-phase AC machine in d-q-n axes Every chapter features exercise problems drawn from actual industry experience. The book also includes more than 300 figures and offers access to an FTP site, which provides MATLAB programs for selected problems. The book's practicality and realworld relatability make it an invaluable resource for professionals and engineers involved in the research and development of electric machine drive business, industrial drive designers, and senior undergraduate and graduate students. To obtain instructor materials please send an email to pressbooks@ieee.org To visit this book's FTP site to download MATLAB codes, please click on this link: ftp://ftp.wiley.com/public/sci_tech_med/electric_machine/ MATLAB codes are also downloadable from Wiley Booksupport Site at http://booksupport.wiley.com

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