Inertial Quasi-Velocity Based Controllers for a Class of Vehicles: With Simulation Applications for Underwater Vehicles, Hovercrafts, and Indoor Airships

This book provides an overview of nonlinear control methods for unmanned marine and aerial vehicles, including mathematical models, control strategies, and model-based control algorithms using Inertial Quasi-Velocities. It covers both non-adaptive and adaptive versions and is validated through simulation tests. It is intended as a starting point for engineers and researchers, as well as advanced-level students and educators in vehicle dynamics, control engineering, and robotics.

Format: Hardback
Length: 374 pages
Publication date: 27 February 2022
Publisher: Springer Nature Switzerland AG

This comprehensive book provides a timely and in-depth exploration of nonlinear control methods applied to a diverse range of vehicles and their applications in studying vehicle dynamics. The first part of the book delves into the mathematical models used to describe the motion of three distinct classes of vehicles: underwater vehicles, hovercrafts, and airships. Each model is expressed in terms of Inertial Quasi-Velocities, offering a unified framework for understanding their dynamics. The subsequent chapters analyze various control strategies, including model-free approaches, from the literature and discuss their merits and limitations.

The heart of the book lies in the second part, where readers are guided through the development of model-based control algorithms utilizing Inertial Quasi-Velocities. Both non-adaptive and adaptive versions of these controllers are covered, enabling readers to tailor their control strategies to specific vehicle requirements. Each controller is thoroughly validated through comprehensive simulation tests, providing detailed insights into their performance. Furthermore, this part demonstrates how the controllers can be employed to gain valuable information about vehicle dynamics, thereby elucidating the crucial relationship between the motion of the object and its control.

The book also addresses the effects of mechanical couplings between variables describing vehicle motion due to inertial forces. This intricate aspect of vehicle dynamics is explored in depth, shedding light on the complex interplay between mechanical components and control systems. By examining these interconnections, readers gain a deeper understanding of the challenges and opportunities associated with designing effective nonlinear control schemes for unmanned marine and aerial vehicles.

In conclusion, this book serves as a valuable resource for engineers, researchers, advanced-level students, and educators interested in the field of vehicle dynamics, control engineering, and robotics. It offers a timely overview of nonlinear control methods, comprehensive mathematical models, and practical control algorithms, all backed by rigorous simulation testing. By providing a solid foundation in this area, the book empowers readers to advance their knowledge and contribute to the development of innovative and efficient vehicle systems.

Weight: 758g
Dimension: 235 x 155 (mm)
ISBN-13: 9783030946463
Edition number: 1st ed. 2022