Inertial Quasi-Velocity Based Controllers for a Class of Vehicles (eBook)

This book offers a timely overview of nonlinear control methods applied to a set of vehicles and their applications to study vehicle dynamics. The first part on the book presents the mathematical models used for describing motion of three class of vehicles such as underwater vehicles, hovercrafts and airships. In turn, each model is expressed in terms of Inertial Quasi-Velocities. Various control strategies from the literature, including model-free ones, are then analyzed. The second part and core of the book guides readers to developing model-based control algorithms using Inertial Quasi-Velocities. Both non-adaptive and adaptive versions are covered. Each controller is validated through simulation tests, which are reported in detail. In turn, this part shows how to use the controllers to gain information about vehicle dynamics, thus describing an important relationship between the dynamics of the moving object and its motion control. The effects of mechanical couplings between variables describing vehicle motion due to inertial forces are also discussed. All in all, this book offers a timely guide and extensive information on nonlinear control schemes for unmanned marine and aerial vehicles. It covers specifically the simulation tests and is therefore meant as a starting point for engineers and researchers that would like to verify experimentally the suitability of the proposed models in real vehicles. Further, it also supports advanced-level students and educators in their courses on vehicle dynamics, control engineering and robotics.

Przemyslaw Herman received his M.S. degree in mechanical engineering in 1983 and his Ph.D. and Habilitation degrees in automation and robotics in 1997 and 2007 from the Poznan University of Technology, Poland, respectively. In 1998 he joined the Chair of Control, Robotics and Computer Science of that university. He is currently serving as an Associate Professor at the  Faculty of Automatic Control, Robotics and  Electrical Engineering of the Poznan University of Technology.

He is the author of one monograph on the dynamics and control of manipulators published in Polish (Poznan University of Technology, 2006) and more than one hundred publications in the field of robotics. His research interests cover dynamics, control and simulation of nonlinear systems, such as underwater and surface vehicles, hovercrafts and airships, and robot manipulators.