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.
1. Title of Book - p. i 2. Cover image - p. i 3. Title page - p. ii 4. Table of Contents - p. iii 5. Copyright - p. iv 6. Dedication - p. v 7. Overview - p. xiii 8. Preface - p. xv 9. Glossary - p. xxiii 10. Part One: Control and estimation of robotized vehicles' dynamics and kinematics - p. xxiii 11. 1: Nonlinear control of ground vehicles I - p. 3 12. 2: Nonlinear control of ground vehicles II - p. 63 13. 3: Nonlinear control of aerial vehicles I - p. 127 14. 4: Nonlinear control of aerial vehicles II - p. 195 15. 5: Nonlinear control of unmanned vessels - p. 249 16. Part Two: Control and estimation of the electric traction system for such autonomous vehicles - p. 287 17. 6: Nonlinear control of electric traction systems based on three-phase motors - p. 291 18. 7: Nonlinear control of electric traction systems based on multi-phase motors - p. 397 19. 8: Nonlinear control of EV auxiliary actuation systems - p. 487 20. A: Nonlinear optimal control and Lie algebra-based control - p. 519 21. B: Differential flatness theory and flatness-based control methods - p. 555 22. Epilogue - p. 583 23. References - p. 587 24. Index - p. 629
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.
1. Title of Book - p. i 2. Cover image - p. i 3. Title page - p. ii 4. Table of Contents - p. iii 5. Copyright - p. iv 6. Dedication - p. v 7. Overview - p. xiii 8. Preface - p. xv 9. Glossary - p. xxiii 10. Part One: Control and estimation of robotized vehicles' dynamics and kinematics - p. xxiii 11. 1: Nonlinear control of ground vehicles I - p. 3 12. 2: Nonlinear control of ground vehicles II - p. 63 13. 3: Nonlinear control of aerial vehicles I - p. 127 14. 4: Nonlinear control of aerial vehicles II - p. 195 15. 5: Nonlinear control of unmanned vessels - p. 249 16. Part Two: Control and estimation of the electric traction system for such autonomous vehicles - p. 287 17. 6: Nonlinear control of electric traction systems based on three-phase motors - p. 291 18. 7: Nonlinear control of electric traction systems based on multi-phase motors - p. 397 19. 8: Nonlinear control of EV auxiliary actuation systems - p. 487 20. A: Nonlinear optimal control and Lie algebra-based control - p. 519 21. B: Differential flatness theory and flatness-based control methods - p. 555 22. Epilogue - p. 583 23. References - p. 587 24. Index - p. 629
