Dynamics and Advanced Motion Control of Off-Road UGVs

AvYue Ma

Häftad, Engelska, 2020

Del i serien Emerging Methodologies and Applications in Modelling, Identification and Control

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Beskrivning

Dynamics and Advanced Motion Control of Unmanned Ground Off-Road Vehicles details both theoretical concepts such as planning and perception when working with UGVs, as well as more practical, hands-on aspects such as torque vectoring control. The book also covers related technologies such as intelligent and electrification of ground vehicles. After an introduction, initial chapters include an exploration of wheel-soil and track-soil interaction mechanisms, motion stability, motion control, fault detection and identification, and fault tolerance control. This book offers readers a detailed understanding of Unmanned Ground Vehicles by combining theory, applications and further developments.

Topics are covered in such a way that readers will be well versed on the current field of UGVs and will be able to implement future design and research in a feasible and effective way.

Gives a comprehensive analysis and introduction to the dynamics and advanced motion control of unmanned ground off-road vehicles
Covers key related technology concepts, such as intelligent and electrification of ground vehicles
Details the entire control framework of off-road UGVs and the implementation of controller design

Produktinformation

Utgivningsdatum:2020-08-06
Mått:152 x 229 x 19 mm
Vikt:570 g
Format:Häftad
Språk:Engelska
Serie:Emerging Methodologies and Applications in Modelling, Identification and Control
Antal sidor:354
Förlag:Elsevier Science
ISBN:9780128187999

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Mer om författaren

Dr Yue Ma is an Associate Professor of Mechanical Engineering, Beijing Institute of Technology (BIT), Beijing, China. He obtained his MSc degree in vehicle engineering from BIT in 2002. In 2010, he obtained his PhD degree at Bristol Robotics Laboratory, University of the West of England, UK. He is a Committee Member of Youth Chapter, Organization of Aviation Utility Systems Engineering (AUS-CSAA), Chinese Society of Aeronautics and Astronautics, Member of Institute of Electrical and Electronics Engineers (MIEEE) and an Editorial Board Member, International Journal of Modelling, Identification and Control.

Innehållsförteckning

1. Introduction Part 1 - Modeling of off-road UGV2. Modeling of track soil interaction for tracked unmanned ground vehicle3. Dynamics of tracked UGVs in three-dimensional space4. Modeling of driving modules of unmanned ground vehicle5. Modeling of wheel soil interaction and dynamics of wheeled unmanned ground vehicle in three-dimensional space Part 2 - Advanced motion control of UGV6. Motion stability performance concepts7. State and load observer of unmanned ground vehicle8. Motion stability enhanced controller design9. Power management technology10. Torque vectoring technology Part 3 - Fault tolerance control of off-road UGV11. Fault detection and identification of unmanned ground vehicle12. Fault-tolerance control of unmanned ground vehicle under off-road situation13. Conclusions and prospects