Описание: Presents the normal kinematic and dynamic equations for robots, including mobile robots, with coordinate transformations and various control strategies This fully updated edition examines the use of mobile robots for sensing objects of interest, and focus primarily on control, navigation, and remote sensing. It also includes an entirely new section on modeling and control of autonomous underwater vehicles (AUVs), which exhibits unique complex three-dimensional dynamics. Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs, Second Edition starts with a chapter on kinematic models for mobile robots.
It then offers a detailed chapter on robot control, examining several different configurations of mobile robots. Following sections look at robot attitude and navigation. The application of Kalman Filtering is covered.
Readers are also provided with a section on remote sensing and sensors. Other chapters discuss: target tracking, including multiple targets with multiple sensors; obstacle mapping and its application to robot navigation; operating a robotic manipulator; and remote sensing via UAVs. The last two sections deal with the dynamics modeling of AUVs and control of AUVs.
In addition, this text: Includes two new chapters dealing with control of underwater vehiclesCovers control schemes including linearization and use of linear control design methods, Lyapunov stability theory, and moreAddresses the problem of ground registration of detected objects of interest given their pixel coordinates in the sensor frameAnalyzes geo-registration errors as a function of sensor precision and sensor pointing uncertainty Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs is intended for use as a textbook for a graduate course of the same title and can also serve as a reference book for practicing engineers working in related areas.
Описание: The new concept will facilitate the development of a unified framework for analyzing the stability and convergence of self-tuning control (STC) systems, and potentially, of all adaptive control systems.
Автор: Yinyan Zhang; Shuai Li; Xuefeng Zhou Название: Deep Reinforcement Learning with Guaranteed Performance ISBN: 3030333833 ISBN-13(EAN): 9783030333836 Издательство: Springer Рейтинг: Цена: 18167.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book discusses methods and algorithms for the near-optimal adaptive control of nonlinear systems, including the corresponding theoretical analysis and simulative examples, and presents two innovative methods for the redundancy resolution of redundant manipulators with consideration of parameter uncertainty and periodic disturbances.It also reports on a series of systematic investigations on a near-optimal adaptive control method based on the Taylor expansion, neural networks, estimator design approaches, and the idea of sliding mode control, focusing on the tracking control problem of nonlinear systems under different scenarios. The book culminates with a presentation of two new redundancy resolution methods; one addresses adaptive kinematic control of redundant manipulators, and the other centers on the effect of periodic input disturbance on redundancy resolution.Each self-contained chapter is clearly written, making the book accessible to graduate students as well as academic and industrial researchers in the fields of adaptive and optimal control, robotics, and dynamic neural networks.
Автор: Yang, Chenguang , Zeng, Chao Zhang J. Название: Robot learning human skills and intelligent control design ISBN: 0367634368 ISBN-13(EAN): 9780367634360 Издательство: Taylor&Francis Рейтинг: Цена: 18374.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: In the last decades robots are expected to be of increasing intelligence to deal with a large range of tasks. Especially, robots are supposed to be able to learn manipulation skills from humans. To this end, a number of learning algorithms and techniques have been developed and successfully implemented for various robotic tasks. Among these methods, learning from demonstrations (LfD) enables robots to effectively and efficiently acquire skills by learning from human demonstrators, such that a robot can be quickly programmed to perform a new task.This book introduces recent results on the development of advanced LfD-based learning and control approaches to improve the robot dexterous manipulation. First, there's an introduction to the simulation tools and robot platforms used in the authors' research. In order to enable a robot learning of human-like adaptive skills, the book explains how to transfer a human user’s arm variable stiffness to the robot, based on the online estimation from the muscle electromyography (EMG). Next, the motion and impedance profiles can be both modelled by dynamical movement primitives such that both of them can be planned and generalized for new tasks. Furthermore, the book introduces how to learn the correlation between signals collected from demonstration, i.e., motion trajectory, stiffness profile estimated from EMG and interaction force, using statistical models such as hidden semi-Markov model and Gaussian Mixture Regression. Several widely used human-robot interaction interfaces (such as motion capture-based teleoperation) are presented, which allow a human user to interact with a robot and transfer movements to it in both simulation and real-word environments. Finally, improved performance of robot manipulation resulted from neural network enhanced control strategies is presented. A large number of examples of simulation and experiments of daily life tasks are included in this book to facilitate better understanding of
Автор: Kuize Zhang; Lijun Zhang; Lihua Xie Название: Discrete-Time and Discrete-Space Dynamical Systems ISBN: 3030259714 ISBN-13(EAN): 9783030259716 Издательство: Springer Рейтинг: Цена: 13974.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Discrete-Time and Discrete-Space Dynamical Systems provides a systematic characterization of the similarities and differences of several types of discrete-time and discrete-space dynamical systems, including:
Boolean control networks;nondeterministic finite-transition systems;finite automata;labelled Petri nets; andcellular automata.The book's perspective is primarily based on topological properties though it also employs semitensor-product and graph-theoretic methods where appropriate. It presents a series of fundamental results: invertibility, observability, detectability, reversiblity, etc., with applications to systems biology.
Academic researchers with backgrounds in applied mathematics, engineering or computer science and practising engineers working with discrete-time and discrete-space systems will find this book a helpful source of new understanding for this increasingly important class of systems. The basic results to be found within are of fundamental importance for further study of related problems such as automated synthesis and safety control in cyber-physical systems using formal methods.
Автор: Zhang Dan, Wang Qing-Guo, Yu Li Название: Filtering and Control of Wireless Networked Systems ISBN: 3319850687 ISBN-13(EAN): 9783319850689 Издательство: Springer Рейтинг: Цена: 13974.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание:
Introduction.- Fundamentals.- H∞ filtering with time-varying transmissions.- H∞ filtering with energy constraint and stochastic gain variations.- H∞ Filtering with Stochastic Signal Transmissions.- H∞ filtering with stochastic sampling and measurement size reduction.- Distributed filtering with communication reduction.- Distributed filtering with stochastic sampling.- Distributed filtering with random filter gain variations.- Distributed filtering with measurement size reduction and filter gain variations.- Distributed control with controller gain variations.- Distributed control with measurement size reduction and random fault.- Distributed control with communication reduction.- Distributed control with event-based communication and topology switching
Автор: Ke Zhang; Bin Jiang; Peng Shi; Vincent Cocquempot Название: Observer-Based Fault Estimation Techniques ISBN: 3319674919 ISBN-13(EAN): 9783319674919 Издательство: Springer Рейтинг: Цена: 18167.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book investigates observer-fault estimation techniques in detail, while also highlighting recent research and findings regarding fault estimation. In turn, fault isolation is used to identify the location of the faulty component, while fault estimation is used to identify the size of the fault online.
The 2016 International Conference on Mechatronics and Automation Engineering (ICMAE2016) have been successfully held in Xiamen, China, on April 22nd - 24th.
The conference received well over more than 200 submissions, however, only 64 articles were selected and recommended to be included in this proceedings, which organized into 4 main areas, namely, Industrial Automation and Control System, Intelligent Mechatronics and Robotics, Mechanical Engineering and Electrical Engineering and Computer Science.
The conference provides the opportunity to showcase state of art research and development in Mechatronics and Automation Engineering from researchers and developers from around the world under one roof to compare notes and establish collaborative relationships.
Описание: This book focuses on the basic control and filtering synthesis problems for discrete-time switched linear systems under time-dependent switching signals.
Автор: Xiao-Ping Zhang; Christian Rehtanz; Bikash Pal Название: Flexible AC Transmission Systems: Modelling and Control ISBN: 364244508X ISBN-13(EAN): 9783642445088 Издательство: Springer Рейтинг: Цена: 23508.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание:
The extended and revised second edition of this successful monograph presents advanced modeling, analysis and control techniques of Flexible AC Transmission Systems (FACTS). The book covers comprehensively a range of power-system control problems: from steady-state voltage and power flow control, to voltage and reactive power control, to voltage stability control, to small signal stability control using FACTS controllers.
In the six years since the first edition of the book has been published research on the FACTS has continued to flourish while renewable energy has developed into a mature and booming global green business. The second edition reflects the new developments in converter configuration, smart grid technologies, super power grid developments worldwide, new approaches for FACTS control design, new controllers for distribution system control, and power electronic controllers in wind generation operation and control. The latest trends of VSC-HVDC with multilevel architecture have been included and four completely new chapters have been added devoted to Multi-Agent Systems for Coordinated Control of FACTS-devices, Power System Stability Control using FACTS with Multiple Operating Points, Control of a Looping Device in a Distribution System, and Power Electronic Control for Wind Generation.
Автор: Zhang Название: Advanced Control of Grid-Connected High-Power Converters ISBN: 9811989974 ISBN-13(EAN): 9789811989971 Издательство: Springer Рейтинг: Цена: 19564.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: The high-power grid-connected converters play a vital role in modern power system, realizing the conversion and transmission of electrical energy, and determining its safety, stability and efficiency. This book explores the advanced control strategies of high-power grid-connected converter to satisfy the high-power requirements in practical applications. Special attention is given to grid-connected converter modules in parallel operation to overcome the challenges of non-ideal power grid, power switches faults, and circulating current. Through the advanced control strategies presented in this book, the power capacity of grid-connected converter is flexibly increased with high-reliability and efficiency, thus expanding the application range of high-power converters in modern power system. To facilitate understanding, this book provides step-by-step model derivation and controller design for grid-connected converter. Meanwhile, it also provides the comprehensive simulation and experimental results to offer readers a deep insight into the control process of grid-connected converters. This book serves as a guide for electrical engineers and researchers involved in the development of high-power converters.
Автор: Ridong Zhang; Anke Xue; Furong Gao Название: Model Predictive Control ISBN: 9811300828 ISBN-13(EAN): 9789811300820 Издательство: Springer Рейтинг: Цена: 16769.00 р. Наличие на складе: Нет в наличии.
Описание: This monograph introduces the authors’ work on model predictive control system design using extended state space and extended non-minimal state space approaches. It systematically describes model predictive control design for chemical processes, including the basic control algorithms, the extension to predictive functional control, constrained control, closed-loop system analysis, model predictive control optimization-based PID control, genetic algorithm optimization-based model predictive control, and industrial applications. Providing important insights, useful methods and practical algorithms that can be used in chemical process control and optimization, it offers a valuable resource for researchers, scientists and engineers in the field of process system engineering and control engineering.
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