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. It 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. The following chapters go on to cover motion stability and motion control. The later chapters detail key concepts including 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 vehiclesCovers key related technology concepts, such as intelligent and electrification of ground vehiclesDetails the entire control framework of off-road UGVs and the implementation of controller design INDICE: Part 1: Introduction Part 2: Modelling of off-road UGV 1. Modelling of Driving Modules of UGV 2. Modelling of Wheel-Soil Interaction 3. Modelling of Track-Soil Interaction 4. Vehicle Dynamics Modelling of UGV in Three-Dimensional Space 5. State Observer of UGV Part 3: Motion Control of UGV 6. Motion Stability Performance 7. Motion Stability Enhanced Controller Design 8. Power Management and Torque Vectoring Control of UGV Part 4: Fault Tolerance Control of Off-road UGV 9. Fault Detection and Identification of UGV 10. Fault Tolerance Control of UGV
- ISBN: 978-0-12-818799-9
- Editorial: Academic Press
- Encuadernacion: Rústica
- Páginas: 400
- Fecha Publicación: 01/08/2020
- Nº Volúmenes: 1
- Idioma: Inglés