Autonomous Electric Vehicles explores cutting-edge technologies revolutionizing transportation and city navigation. Novel solutions to the control problem of the complex nonlinear dynamics of robotized electric vehicles are developed and tested. The new control methods are free of shortcomings met in control schemes which are based on diffeomorphisms and global linearization (complicated changes of state variables, forward and backwards state-space transformations, singularities). It is shown that such methods can be used in the steering and traction system of several types of robotized…mehr
Autonomous Electric Vehicles explores cutting-edge technologies revolutionizing transportation and city navigation. Novel solutions to the control problem of the complex nonlinear dynamics of robotized electric vehicles are developed and tested. The new control methods are free of shortcomings met in control schemes which are based on diffeomorphisms and global linearization (complicated changes of state variables, forward and backwards state-space transformations, singularities). It is shown that such methods can be used in the steering and traction system of several types of robotized electric vehicles without needing to transform the state-space model of these systems into equivalent linearized forms. It is also shown that the new control methods can be implemented in a computationally simple manner and are also followed by global stability proofs.Hinweis: Dieser Artikel kann nur an eine deutsche Lieferadresse ausgeliefert werden.
Dr. Gerasimos Rigatos is currently a Research Director (Researcher Grade A') at the Industrial Systems Institute, Greece. He obtained his Ph.D. from the National Technical University of Athens (NTUA), Greece, in 2000, and was subsequently a post-doctoral researcher at IRISA-INRIA, Rennes, France. He is a Senior Member of IEEE, and a Member and CEng of IET. Dr. Rigatos has led several research cooperation agreements and projects with accredited results in the areas of nonlinear control, nonlinear filtering, and control of distributed parameter systems, and his results appear in 12 research monographs and in several journal articles. He is first author of 150 journal articles, receiving over 3,400 citations (Scopus), and is an Editor of the Journal of Information Sciences, the Journal of Advanced Robotic Systems, the SAE Journal of Electrified Vehicles, and the Journal of Power Electronics and Drives. He has held visiting professor positions at several universities in Europe.
Inhaltsangabe
Part I. Control and estimation of robotized vehicles’ dynamics and kinematics 1. Nonlinear optimal control and Lie algebra-based control 2. Flatness-based control in successive loops for complex nonlinear dynamical systems 3. Nonlinear optimal control for car-like front-wheel steered autonomous ground vehicles 4. Nonlinear optimal control for skid-steered autonomous ground vehicles 5. Flatness-based control in successive loops for 3-DOF unmanned surface vessels 6. Flatness-based control in successive loops for 3-DOF autonomous underwater vessels 7. Flatness-based control in successive loops for 6-DOF autonomous underwater vessels 8. Flatness-based control in successive loops for 6-DOF autonomous quadrotors 9. Flatness-based control in successive loops for 6-DOF autonomous octocopters 10. Nonlinear optimal control for 6-DOF tilt rotor autonomous quadrotors 11. Flatness-based adaptive neurofuzzy control of the four-wheel autonomous ground vehicles 12. H-infinity adaptive neurofuzzy control of the four-wheel autonomous ground vehicles 13. Fault diagnosis for four-wheel autonomous ground vehicles Part II. Control and estimation of electric autonomous vehicles’ traction 14. Flatness-based control in successive loops for VSI-fed three-phase permanent magnet synchronous motors 15. Flatness-based control in successive loops for VSI-fed three-phase induction motors 16. Flatness-based control in successive loops and nonlinear optimal control for five-phase permanent magnet synchronous motors 17. Flatness-based control in successive loops for VSI-fed six-phase asynchronous motors 18. Flatness-based control in successive lops for nine-phase permanent magnet synchronous motors 19. Flatness-based control in successive loops of a vehicle’s clutch with actuation for permanent magnet linear synchronous motors 20. Flatness-based control in successive loops for electrohydraulic actuators 21. Flatness-based control in successive loops for electropneumatic actuators 22. Flatness-based adaptive neurofuzzy control of three-phase permanent magnet synchronous motors 23. H-infinity adaptive neurofuzzy control of three-phase permanent magnet synchronous motors 24. Fault diagnosis of a hybrid electric vehicle’s powertrain
Part I. Control and estimation of robotized vehicles’ dynamics and kinematics 1. Nonlinear optimal control and Lie algebra-based control 2. Flatness-based control in successive loops for complex nonlinear dynamical systems 3. Nonlinear optimal control for car-like front-wheel steered autonomous ground vehicles 4. Nonlinear optimal control for skid-steered autonomous ground vehicles 5. Flatness-based control in successive loops for 3-DOF unmanned surface vessels 6. Flatness-based control in successive loops for 3-DOF autonomous underwater vessels 7. Flatness-based control in successive loops for 6-DOF autonomous underwater vessels 8. Flatness-based control in successive loops for 6-DOF autonomous quadrotors 9. Flatness-based control in successive loops for 6-DOF autonomous octocopters 10. Nonlinear optimal control for 6-DOF tilt rotor autonomous quadrotors 11. Flatness-based adaptive neurofuzzy control of the four-wheel autonomous ground vehicles 12. H-infinity adaptive neurofuzzy control of the four-wheel autonomous ground vehicles 13. Fault diagnosis for four-wheel autonomous ground vehicles Part II. Control and estimation of electric autonomous vehicles’ traction 14. Flatness-based control in successive loops for VSI-fed three-phase permanent magnet synchronous motors 15. Flatness-based control in successive loops for VSI-fed three-phase induction motors 16. Flatness-based control in successive loops and nonlinear optimal control for five-phase permanent magnet synchronous motors 17. Flatness-based control in successive loops for VSI-fed six-phase asynchronous motors 18. Flatness-based control in successive lops for nine-phase permanent magnet synchronous motors 19. Flatness-based control in successive loops of a vehicle’s clutch with actuation for permanent magnet linear synchronous motors 20. Flatness-based control in successive loops for electrohydraulic actuators 21. Flatness-based control in successive loops for electropneumatic actuators 22. Flatness-based adaptive neurofuzzy control of three-phase permanent magnet synchronous motors 23. H-infinity adaptive neurofuzzy control of three-phase permanent magnet synchronous motors 24. Fault diagnosis of a hybrid electric vehicle’s powertrain
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