Inertial Quasi-Velocity Based Controllers for a Class of Vehicles: With Simulation Applications for Underwater Vehicles, Hovercrafts, and Indoor Airships by Przemyslaw Herman
English | EPUB | 2022 | 394 Pages | ISBN : 3030946460 | 55 MB
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.