1st Edition
Autonomous Underwater Vehicles Modeling, Control Design and Simulation
Introduction
Overview
Examples of Underwater Vehicles Construction
Vehicle Kinematics Fundamentals
Lie Groups and Lie Algebras
Problem Formulation and Examples
Motion Planning of Nonholonomic Systems
Nonholonomic Constraints
Problem Description
Control Model Formulation
Controllability Issues
Stabilization
Examples of Nonholonomic Systems
Mathematical Modeling and Controllability Analysis
Mathematical Modeling
Controllability Analysis
Chained Forms
Control Design Using the Kinematic Model
Trajectory Tracking and Controller Design for the Chained Form
Reference Trajectory Generation
Control Using Approximate Linearization
Control Using Exact Feedback Linearization via State and Input Transformations
Point-to-Point Stabilization
Control Design Using the Dynamic Model
Dynamic Modeling
Point-to-Point Stabilization Control Design
Robust Feedback Control Design
Robust Control Using the Kinematic Model
Robust Control Using the Dynamic Model
Biography
Sabiha Wadoo, Ph.D, received a BE degree in electrical engineering from the Regional Engineering College, Kashmir, India, in 2001, and an MS degree in electrical engineering, an MS degree in mathematics, and a Ph.D degree in electrical engineering from Virginia Polytechnic Institute and State University (Virginia Tech), Blacksburg, in 2003, 2005, and 2007, respectively. Since 2007, she has been with the New York Institute of Technology, Old Westbury, New York, where she is an assistant professor with the Department of Electrical and Computer Engineering. Her research interests are in the areas of feedback control of nonlinear control systems, nonlinear control system abstraction, and feedback control of distributed parameter systems.
Pushkin Kachroo, Ph.D, received a BTech degree in civil engineering from the Indian Institute of Technology, Bombay, India, in 1988, an MS degree in mechanical engineering from Rice University, Houston, Texas, in 1990, a Ph.D degree in mechanical engineering from the University of California, Berkeley, in 1993, and MS and Ph.D degrees in mathematics from Virginia Polytechnic Institute and State University (Virginia Tech), Blacksburg, in 2004 and 2007, respectively. He is the director of the Transportation Research Center, Harry Reid Center for Environmental Studies, Las Vegas, Nevada, and a professor with the Department of Electrical and Computer Engineering, University of Nevada, Las Vegas.
