東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Adaptive nonlinear control for auton...

Black, William S.

Linked to FindBook

Google Book

Amazon

博客來

Adaptive nonlinear control for autonomous ground vehicles.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Adaptive nonlinear control for autonomous ground vehicles./
Author:	Black, William S.
Description:	136 p.
Notes:	Source: Masters Abstracts International, Volume: 52-05.
Contained By:	Masters Abstracts International52-05(E).
Subject:	Engineering, Mechanical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1553492
ISBN:	9781303800689

Adaptive nonlinear control for autonomous ground vehicles.
Black, William S.

Adaptive nonlinear control for autonomous ground vehicles. - 136 p.

Source: Masters Abstracts International, Volume: 52-05.

Thesis (M.S.M.E.)--Purdue University, 2013.

We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design nonlinear disturbance observers for both single-input-single-output and multi-input-multi-output systems. Finally, we show the performance of these observers with simulation results.

ISBN: 9781303800689Subjects--Topical Terms:

783786
Engineering, Mechanical.

Adaptive nonlinear control for autonomous ground vehicles.
LDR:01755nam a2200289 4500 001 1967136
005 20141112080132.5
008 150210s2013 ||||||||||||||||| ||eng d
020 $a 9781303800689
035 $a (MiAaPQ)AAI1553492
035 $a AAI1553492
040 $a MiAaPQ $c MiAaPQ
100 1 $a Black, William S. $3 2104076
245 1 0 $a Adaptive nonlinear control for autonomous ground vehicles.
300 $a 136 p.
500 $a Source: Masters Abstracts International, Volume: 52-05.
500 $a Adviser: Kartik B. Ariyur.
502 $a Thesis (M.S.M.E.)--Purdue University, 2013.
520 $a We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design nonlinear disturbance observers for both single-input-single-output and multi-input-multi-output systems. Finally, we show the performance of these observers with simulation results.
590 $a School code: 0183.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
650 4 $a Engineering, Aerospace. $3 1018395
690 $a 0548
690 $a 0771
690 $a 0538
710 2 $a Purdue University. $b Mechanical Engineering. $3 1019124
773 0 $t Masters Abstracts International $g 52-05(E).
790 $a 0183
791 $a M.S.M.E.
792 $a 2013
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1553492