Robotic Manipulators and Vehicles (eBook)
XXXIV, 734 Seiten
Springer International Publishing (Verlag)
978-3-319-77851-8 (ISBN)
Gerasimos Rigatos obtained a diploma (1995) and a Ph.D. (2000) both from the Department of Electrical and Computer Engineering, of the National Technical University of Athens (NTUA), Greece. Currently he holds an Research Director position (Grade A) at the Industrial Systems Institute (Greek Secretariat for Research and Technology), on the topic of 'Modelling and Control of Industrial Systems'. In 2001 he was a post-doctoral researcher at the Institut de Recherche en Informatique et Systèmes Aléatoires IRISA, in Rennes France. In 2007 he was an invited professor (maître des conférences) at Université Paris XI (Institut d' Electronique Fondamentale). In 2012 he held a Lecturer Position at the Department of Engineering, of Harper-Adams University College, in Shropshire, UK on the topic of 'Mechatronics and Artificial Intelligence'. He has also been an adjunct professor in Greek Universities where he has taught courses on systems and control theory. His research interests include the areas of control and robotics, optimization and fault diagnosis, adaptive systems and computational intelligence. He is a Senior Member of IEEE, a member and CEng of IET and a member of IMACS. He has also held a visiting Professor position at the University of Salerno, Italy. and a visiting Professor position at the University of Northumbria, UK
Krishna Busawon obtained his first degree in Mathematics and Fundamental Sciences from University of St-Etienne in 1989. He obtained a MSc (Electrical Engineering) from the University of Lyon in 1991 and then his MPhil and PhD in control systems engineering from the same institution in 1992 and 1996 respectively. Doctor Busawon was appointed as a research fellow at Simon Fraser University, Canada, in 1997 and then moved to the University of Nuevo León in Mexico where he worked as a lecturer in the Department of Mechanical and Electrical Engineering. In the year 2000, he joined Northumbria University where he was appointed as a senior lecturer in the School of Computing, Engineering and Sciences. In 2008 he became a reader in Control Systems Engineering and, since February 2013, a professor at the same university. He is currently the coordinator of graduate and post-graduate studies as the head of the Nonlinear Control Research Group. Doctor Busawon's research interests lie mainly in the area of mathematical modelling, nonlinear control and observer design, fault detection and isolation with application to various engineering disciplines such as mechanical, power and biotechnological systems. Recent research interests are in compressive sensing, chaos communications and hybrid systems.
Gerasimos Rigatos obtained a diploma (1995) and a Ph.D. (2000) both from the Department of Electrical and Computer Engineering, of the National Technical University of Athens (NTUA), Greece. Currently he holds an Research Director position (Grade A) at the Industrial Systems Institute (Greek Secretariat for Research and Technology), on the topic of “Modelling and Control of Industrial Systems”. In 2001 he was a post-doctoral researcher at the Institut de Recherche en Informatique et Systèmes Aléatoires IRISA, in Rennes France. In 2007 he was an invited professor (maître des conférences) at Université Paris XI (Institut d’ Electronique Fondamentale). In 2012 he held a Lecturer Position at the Department of Engineering, of Harper-Adams University College, in Shropshire, UK on the topic of “Mechatronics and Artificial Intelligence". He has also been an adjunct professor in Greek Universities where he has taught courses on systems and control theory. His research interests include the areas of control and robotics, optimization and fault diagnosis, adaptive systems and computational intelligence. He is a Senior Member of IEEE, a member and CEng of IET and a member of IMACS. He has also held a visiting Professor position at the University of Salerno, Italy. and a visiting Professor position at the University of Northumbria, UKKrishna Busawon obtained his first degree in Mathematics and Fundamental Sciences from University of St-Etienne in 1989. He obtained a MSc (Electrical Engineering) from the University of Lyon in 1991 and then his MPhil and PhD in control systems engineering from the same institution in 1992 and 1996 respectively. Doctor Busawon was appointed as a research fellow at Simon Fraser University, Canada, in 1997 and then moved to the University of Nuevo León in Mexico where he worked as a lecturer in the Department of Mechanical and Electrical Engineering. In the year 2000, he joined Northumbria University where he was appointed as a senior lecturer in the School of Computing, Engineering and Sciences. In 2008 he became a reader in Control Systems Engineering and, since February 2013, a professor at the same university. He is currently the coordinator of graduate and post-graduate studies as the head of the Nonlinear Control Research Group. Doctor Busawon’s research interests lie mainly in the area of mathematical modelling, nonlinear control and observer design, fault detection and isolation with application to various engineering disciplines such as mechanical, power and biotechnological systems. Recent research interests are in compressive sensing, chaos communications and hybrid systems.
Foreword 7
Preface 10
Acknowledgements 17
Contents 18
Abbreviations 29
1 Rigid-Link Manipulators: Model-Based Control 31
1.1 Chapter Overview 31
1.2 Kinematics and Dynamics of Rigid-Link Multi-DOF Manipulators 33
1.2.1 Outline 33
1.2.2 Dynamic Analysis of Rigid Link Robots 33
1.2.3 Kinematic Analysis of Rigid Link Robots 38
1.3 Model-Based Control of Rigid-Link Manipulators … 41
1.3.1 Outline 41
1.3.2 Differential Flatness Theory 41
1.3.3 Differential Flatness for MIMO Nonlinear Dynamical Systems 43
1.3.4 Global Linearization of a 2-DOF Robotic Manipulator 46
1.3.5 Simulation Tests 49
1.4 Model-Based Control of Rigid-Link Manipulators … 56
1.4.1 Outline 56
1.4.2 Dynamic Model of the Multi-DOF Robotic System 58
1.4.3 Approximate Linearization of the Robot's Dynamics 61
1.4.4 Design of an H-Infinity Nonlinear Feedback Controller 65
1.4.5 Computation of the Feedback Control Gains for the Approximately Linearized Robot 67
1.4.6 Riccati Equation Coefficients in Controller's Robustness 68
1.4.7 Lyapunov Stability Analysis 69
1.4.8 Simulation Tests 72
1.5 Model-Based Control of Rigid-Link Manipulators Under Time-Delays 79
1.5.1 Outline 79
1.5.2 State-Space Description of the Robotic Manipulator 80
1.5.3 Control of the Robotic Manipulator Under Known Time Delays 83
1.5.4 Differential Flatness of the Robot's Model 84
1.5.5 Control of the Robot Under Unknown Time Delays 85
1.5.6 Simulation Tests 90
2 Underactuated Robotic Manipulators 94
2.1 Chapter Overview 94
2.2 Nonlinear Optimal Control for Multi-DOF Underactuated Overhead Cranes 96
2.2.1 Outline 96
2.2.2 Dynamic Model of the Crane 98
2.2.3 Approximate Linearization of the Crane's Model 100
2.2.4 Design of an H-Infinity Nonlinear Feedback Controller 103
2.2.5 Lyapunov Stability Analysis 105
2.2.6 Robust State Estimation with the Use of the H-Infinity Kalman Filter 108
2.2.7 Simulation Tests 109
2.3 A Nonlinear Optimal Control Approach for Precise Functioning … 114
2.3.1 Outline 114
2.3.2 Dynamic Model of the Payload's Positioning System 116
2.3.3 Approximate Linearization of the Payload's Positioning System 117
2.3.4 Design of an H-Infinity Nonlinear Feedback Controller 119
2.3.5 The Nonlinear H-Infinity Control 120
2.3.6 Lyapunov Stability Analysis 122
2.3.7 Robust State Estimation with the Use of the Hinfty Kalman Filter 125
2.3.8 Simulation Tests 126
2.4 Nonlinear H-Infinity Control for Underactuated … 127
2.4.1 Outline 127
2.4.2 Dynamic Model of Furuta's Penulum 130
2.4.3 Design of an H-Infinity Nonlinear Feedback Controller 133
2.4.4 Lyapunov Stability Analysis 135
2.4.5 Robust State Estimation with the Use of the H-Infinity Kalman Filter 138
2.4.6 Simulation Tests 139
2.5 A Nonlinear Optimal Control Approach … 142
2.5.1 Outline 142
2.5.2 Dynamic Model of the Cart and Double-Pendulum System 145
2.5.3 Approximate Linearization of the Cart and Double-Pendulum System 146
2.5.4 Design of an H-Infinity Nonlinear Feedback Controller 151
2.5.5 Lyapunov Stability Analysis 154
2.5.6 Robust State Estimation with the Use of the Hinfty Kalman Filter 157
2.5.7 Simulation Tests 157
2.6 Nonlinear Optimal Control for 3-DOF Underactuated Robotic Manipulators 164
2.6.1 Introduction 165
2.6.2 Dynamic Model of the Underactuated Manipulator 169
2.6.3 Approximate Linearization of the Underactuated Robot 174
2.6.4 Design of an H-Infinity Nonlinear Feedback Controller 176
2.6.5 Lyapunov Stability Analysis 180
2.6.6 Robust State Estimation with the Use of the H-Infinity Kalman Filter 184
2.6.7 Simulation Tests 185
3 Rigid-Link Manipulators: Model-Free Control 189
3.1 Chapter Overview 189
3.2 Model-Free Adaptive Control of Rigid-Link Manipulators Using State Feedback 190
3.2.1 Outline 190
3.2.2 Adaptive Control Based on Transformation of the Robot's Dynamics to a Canonical Form 192
3.2.3 Control Law 193
3.2.4 Application of Flatness-Based Adaptive Fuzzy Control to Robotic Manipulators 195
3.2.5 Lyapunov Stability Analysis 200
3.2.6 Simulation Tests 205
3.3 Model-Free Adaptive Control of Rigid-Link Manipulators Using Output Feedback 211
3.3.1 Outline 211
3.3.2 Transformation of MIMO Robotic Systems into the Brunovsky Form 211
3.3.3 Control Law 214
3.3.4 Estimation of the State Vector 216
3.3.5 Application of Observer-Based Adaptive Fuzzy Control to Robotic Systems 217
3.3.6 Dynamics of the Observation Error 220
3.3.7 Approximation of Unknown System's Dynamics 221
3.3.8 Lyapunov Stability Analysis 222
3.3.9 Riccati Equation Coefficients in Observer-Based Adaptive Fuzzy Control 228
3.3.10 Simulation Tests 229
3.4 Adaptive H-Infinity Neurofuzzy Control for the Rotary Pendulum 235
3.4.1 Outline 235
3.4.2 Dynamic Model of the Rotary Pendulum 236
3.4.3 Control System Dynamics 236
3.4.4 Estimation of the Unknown Dynamics of the System 238
3.4.5 Lyapunov Stability Analysis 240
3.4.6 Simulation Tests 244
4 Closed-Chain Robotic Systems and Mechanisms 249
4.1 Chapter Overview 249
4.2 Flatness-Based Control of Closed-Chain Kinematic Mechanisms 250
4.2.1 Outline 250
4.2.2 Dynamic Model of the Closed-Chain 2-DOF Robotic System 252
4.2.3 Proof of the Robot's Dynamic Model Using the Euler–Lagrange Method 255
4.2.4 Linearization of the Closed-Chain 2-DOF Robotic System Using Lie Algebra Theory 260
4.2.5 Differential Flatness of the Closed-Chain 2-DOF Robotic System 263
4.2.6 Derivative-Free Nonlinear Kalman Filter for the Closed-Chain 2-DOF Robotic System 266
4.2.7 Simulation Tests 269
4.3 Flatness-Based Adaptive Fuzzy Control … 274
4.3.1 Outline 274
4.3.2 Flatness-Based Adaptive Fuzzy Control 275
4.3.3 Lyapunov Stability Analysis 278
4.3.4 Simulation Tests 281
4.4 Nonlinear Optimal Control for Closed-Chain Kinematic Mechanisms 284
4.4.1 Outline 284
4.4.2 Approximate Linearization of the Closed-Chain Closed-Chain Robotic Mechanism 285
4.4.3 Design of an H-Infinity Nonlinear Feedback Controller 288
4.4.4 Lyapunov Stability Analysis 290
4.4.5 Robust State Estimation with the Use of the H-Infinity Kalman Filter 294
4.4.6 Simulation Tests 294
5 Flexible-Link Robots 299
5.1 Chapter Overview 300
5.2 Inverse Dynamics Control of Flexible-Link Robots 300
5.2.1 Outline 300
5.2.2 Model-Based Control of Flexible Link Robots 302
5.2.3 Energy-Based Control of Flexible Link Robots 305
5.2.4 Force Control in Flexible-Link Robots 308
5.2.5 Simulation Results 313
5.3 Sliding-Mode Control of Flexible-Link Manipulators 314
5.3.1 Outline 314
5.3.2 Design of a Sliding-Mode Controller 320
5.3.3 Estimation of the Non-measurable State Variables 323
5.3.4 Simulation Tests 324
6 Micro-manipulators 329
6.1 Chapter Overview 329
6.2 Adaptive Neurofuzzy Control of Microactuators 330
6.2.1 Outline 330
6.2.2 Dynamic Model of the Electrostatic Actuator 332
6.2.3 Linearization of the MEMS Model Using Lie Algebra 334
6.2.4 Differential Flatness of the Electrostatic Actuator 335
6.2.5 Adaptive Fuzzy Control of the MEMS Model Using Output Feedback 337
6.2.6 Lyapunov Stability Analysis 343
6.2.7 Simulation Tests 349
6.3 Nonlinear Optimal Control of Underactuated MEMS 353
6.3.1 Outline 353
6.3.2 Dynamic Model of MEMS 354
6.3.3 Approximate Linearization of the MEMS Dynamics 355
6.3.4 Design of an H-Infinity Nonlinear Feedback Controller 356
6.3.5 The Nonlinear H-Infinity Control 357
6.3.6 Lyapunov Stability Analysis 359
6.3.7 Robust State Estimation with the Use of the H-infinity Kalman Filter 362
6.3.8 Simulation Tests 363
7 Unicycles and Two-Wheel Autonomous Ground Vehicles 369
7.1 Chapter Overview 369
7.2 Nonlinear Optimal Control of the Robotic Unicycle 371
7.2.1 Outline 371
7.2.2 Linearization of the Robotic Vehicle's Kinematic Model 372
7.2.3 Linearization of the Unicycle Robot Through Taylor Series Expansion 372
7.2.4 The Nonlinear H-Infinity Control 374
7.2.5 Lyapunov Stability Analysis 376
7.2.6 Simulation Tests 378
7.3 Flatness-Based Control of the Robotic Unicycle 381
7.3.1 Outline 381
7.3.2 Application of Derivative-Free Kalman Filtering to UGVs 382
7.3.3 Simulation Tests 387
7.4 Nonlinear Optimal Control of Autonomous Two-Wheel Vehicles 400
7.4.1 Outline 401
7.4.2 Dynamic and Kinematic Model of the Riderless Motorcycle 402
7.4.3 Approximate Linearization of the Model of the Riderless Motorcycle 404
7.4.4 The Nonlinear H-Infinity Control 405
7.4.5 Lyapunov Stability Analysis 408
7.4.6 Robust State Estimation with the Use of the H-Infinity Kalman Filter 412
7.4.7 Simulation Tests 412
8 Four-Wheel Autonomous Ground Vehicles 419
8.1 Chapter Overview 419
8.2 Nonlinear Optimal Control of Four-Wheel Autonomous Ground Vehicles 421
8.2.1 Outline 421
8.2.2 Dynamic and Kinematic Model of the Vehicle 422
8.2.3 Approximate Linearization of the Four-Wheel Vehicle Dynamics 427
8.2.4 The Nonlinear H-Infinity Control 429
8.2.5 Min-Max Control and Disturbance Rejection 430
8.2.6 Lyapunov Stability Analysis 432
8.2.7 Robust State Estimation with the Use of the H-Infinity Kalman Filter 435
8.2.8 Simulation Tests 436
8.3 A Nonlinear H-Infinity Control Approach for an Autonomous Truck and Trailer System 443
8.3.1 Outline 443
8.3.2 Kinematic Model of the Truck and Trailer 444
8.3.3 The Nonlinear H-Infinity Control 447
8.3.4 Lyapunov Stability Analysis 449
8.3.5 Robust State Estimation with the Use of the H-Infinity Kalman Filter 452
8.3.6 Simulation Tests 453
8.4 Nonlinear Optimal Feedback Control of Four-Wheel Steering Autonomous Vehicles 455
8.4.1 Outline 455
8.4.2 Modelling of the Kinematics and Dynamics of the 4WS Autonomous Vehicle 457
8.4.3 Approximate Linearization of the Model of the 4WS Vehicle 462
8.4.4 The Nonlinear H-Infinity Control 466
8.4.5 Lyapunov Stability Analysis 469
8.4.6 Robust State Estimation Using the H-Infinity Kalman Filter 472
8.4.7 Simulation Tests 473
8.5 Flatness-Based Control for AGVs and Kalman Filter-Based Compensation of Disturbance Forces and Torques 481
8.5.1 Outline 481
8.5.2 Dynamic Model of the Vehicle 483
8.5.3 Flatness-Based Controller for the 3-DOF Vehicle Model 484
8.5.4 Estimation of Vehicle Disturbance Forces with the Derivative-Free Nonlinear Kalman Filter 487
8.5.5 Simulation Tests 490
9 Unmanned Aerial Vehicles 496
9.1 Chapter Overview 496
9.2 Control of UAVs Based on Global Linearization 497
9.2.1 Outline 497
9.2.2 Kinematic Model of the Quadropter 499
9.2.3 Euler–Lagrange Equations for the Quadropter 500
9.2.4 Design of Flatness-Based Control for the Quadrotor's Model 501
9.2.5 Estimation of the Quadrotor's Disturbance Forces and Torques with Kalman Filtering 503
9.2.6 Simulation Tests 506
9.3 Control of UAVs Based on Approximate Linearization 507
9.3.1 Outline 507
9.3.2 Dynamic Model of the UAV 511
9.3.3 Linearization of the UAV's Dynamic Model 512
9.3.4 Design of an H-Infinity Nonlinear Feedback Controller 516
9.3.5 Lyapunov Stability Analysis 519
9.3.6 Robust State Estimation with the Use of the H-Infinity Kalman Filter 522
9.3.7 Simulation Tests 524
10 Unmanned Surface Vessels 527
10.1 Chapter Overview 528
10.2 Nonlinear Control and Filtering for a 3-DOF Surface Vessel 529
10.2.1 Outline 529
10.2.2 Kinematic and Dynamic Models of Vessels for the Problem of Dynamic Positioning 530
10.2.3 Ship Actuator Model 533
10.2.4 Feedback Linearization for Ship Dynamic Positioning 534
10.2.5 Joint Estimation of the Ship's State Vector and of Unknown Additive Disturbances 536
10.2.6 Sensor Fusion for the Surface Vessel Using Kalman Filtering 537
10.2.7 Particle Filter-Based Sensor Fusion for Estimating the Ship's Motion and Disturbances 539
10.2.8 Simulation Tests 541
10.3 Flatness-Based Control for the Autonomous Hovercraft 558
10.3.1 Outline 558
10.3.2 State-Space Description of the Underactuated Hovercraft 559
10.3.3 Differential Flatness Properties of the Hovercraft's Model 566
10.3.4 Flatness-Based Control of the Hovercraft's Model 569
10.3.5 Disturbances' Compensation with the Use of the Derivative-Free Nonlinear Kalman Filter 574
10.3.6 Simulation Tests 576
10.4 A Nonlinear H-Infinity Control Approach for Underactuated Surface Vessels 580
10.4.1 Outline 580
10.4.2 Approximate Linearization of the Underactuated Vessel 581
10.4.3 Design of an H-Infinity Nonlinear Feedback Controller 583
10.4.4 Lyapunov Stability Analysis 586
10.4.5 Robust State Estimation with the Use of the H-Infinity Kalman Filter 589
10.4.6 Simulation Tests 590
10.5 Validation of Distributed Kalman Filtering for Ship Tracking Applications 596
10.5.1 Outline 596
10.5.2 Dynamic Model of Surface Vessels 598
10.5.3 Fuzzy Kalman Filtering for Ship Motion Estimation 598
10.5.4 Consistency of the Kalman Filter 604
10.5.5 Change Detection with the Local Statistical Approach 607
10.5.6 Simulation Tests 614
11 Autonomous Underwater Vessels 618
11.1 Chapter Overview 619
11.2 Global Linearization-Based Control of Autonomous Underwater Vessels 620
11.2.1 Outline 620
11.2.2 The 6-DOF Dynamic Model of the AUV 621
11.2.3 Differential Flatness of the AUV's Model 625
11.2.4 Flatness-Based Control of the AUV 626
11.2.5 Disturbances Compensation with the Derivative-Free Nonlinear Kalman Filter 628
11.2.6 Simulation Tests 630
11.3 Adaptive Fuzzy Control of Autonomous Submarines 632
11.3.1 Outline 632
11.3.2 The Dynamic Model of the Autonomous Submarine 636
11.3.3 Estimation of the Submarine's Unknown Dynamics 639
11.3.4 Flatness-Based Adaptive Fuzzy Control of the Submarine Dynamics 642
11.3.5 Lyapunov Stability Analysis 645
11.3.6 Simulation Tests 650
11.4 Nonlinear Optimal Control of Autonomous Submarines 653
11.4.1 Outline 653
11.4.2 Approximate Linearization of the AUV's Model 654
11.4.3 Design of an H-Infinity Nonlinear Feedback Controller 657
11.4.4 The Nonlinear H-Infinity Control for the Autonomous Submarine 658
11.4.5 Lyapunov Stability Analysis 661
11.4.6 Robust State Estimation with the Use of the H-Infinity Kalman Filter 663
11.4.7 Simulation Tests 665
12 Cooperating Autonomous Vehicles 668
12.1 Chapter Overview 668
12.2 Cooperating Unmanned Surface Vessels 669
12.2.1 Outline 669
12.2.2 Target Tracking by Multi-robot Systems 670
12.2.3 Distributed Motion Planning for the Multi-USV System 674
12.2.4 Distributed State Estimation Using the Extended Information Filter 680
12.2.5 Distributed State Estimation Using the Unscented Information Filter 686
12.2.6 Filtering Using Differential Flatness Theory and Canonical Forms 694
12.2.7 Simulation Tests 697
12.3 Cooperating Unmanned Ground Vehicles 709
12.3.1 Outline 709
12.3.2 Localization and Path Planning for Cooperating Agricultural Robots 712
12.3.3 Derivative-Free Kalman Filtering for Unmanned Ground Vehicles 715
12.3.4 Simulation Tests 718
References 722
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| Erscheint lt. Verlag | 24.5.2018 |
|---|---|
| Reihe/Serie | Studies in Systems, Decision and Control |
| Zusatzinfo | XXXIV, 734 p. |
| Verlagsort | Cham |
| Sprache | englisch |
| Themenwelt | Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik |
| Technik ► Elektrotechnik / Energietechnik | |
| Technik ► Fahrzeugbau / Schiffbau | |
| Technik ► Maschinenbau | |
| Schlagworte | Autonomous Vehicles • Global Asymptotic Stability • Industrial Manipulators • Kinematic Models • Nonlinear Control • Nonlinear Estimation Methods |
| ISBN-10 | 3-319-77851-X / 331977851X |
| ISBN-13 | 978-3-319-77851-8 / 9783319778518 |
| Haben Sie eine Frage zum Produkt? |
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