This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques.

Keywords: longitudinal slip, visual odometry, slip-compensation control, robust predictive control, trajectory tracking.

Related subjects: Robotics Mechanical Engineering Mechanics Computer Science Artificial Intelligence - Applications

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Modern methods of filter design and controller design often yield systems of very high order, posing a problem for their implementation. Over the past two decades or so, sophisticated methods have been developed to achieve simplification of filters and controllers. Such methods often come with easy-to-use error bounds, and in the case of controller simplification methods, such error bounds will usually be related to closed-loop properties.This book is the first comprehensive treatment of approximation methods for filters and controllers. It is fully up to date, and it is authored by two leading researchers who have personally contributed to the development of some of the methods. Balanced truncation, Hankel norm reduction, multiplicative reduction, weighted methods and coprime factorization methods are all discussed.The book is amply illustrated with examples, and will equip practising control engineers and graduates for intelligent use of commercial software modules for model and controller reduction.

This book provides new insight on the problem of closed-loop performance and oscillations in discontinuous control systems, covering the class of systems that do not necessarily have low-pass filtering properties. The author provides a practical, yet rigorous and exact approach to analysis and design of discontinuous control systems via application of a novel frequency-domain tool: the locus of a perturbed relay system. Presented are a number of practical examples applying the theory to analysis and design of discontinuous control systems from various branches of engineering, including electro-mechanical systems, process control, and electronics.

Discontinuous Control Systems is intended for readers who have knowledge of linear control theory and will be of interest to graduate students, researchers, and practicing engineers involved in systems analysis and design.

Mechatronics is the synergistic combination of precision engineering, electronics, photonics and IT engineering. The main research task for mechatronics is development and control of advanced hybrid systems covering all these fields and supported by interdisciplinary studies.

This book presents recent state of advances in mechatronics presented on the 7th International Conference Mechatronics 2007, hosted at the Faculty of Mechatronics, Warsaw University of Technology, Poland. The chosen topics of the conference included: Nanotechnology, Automatic Control and Robotics, Biomedical Engineering, Design Manufacturing and Testing of MEMS, Metrology, Photonics, Mechatronic Products. The selected papers give an overview of the state-of-the-art and present new research results and prospects of the future development in this interdisciplinary field of mechatronic systems. This book will provide up-to-date and useful knowledge for researchers and engineers involved in mechatronics and related fields.

Signal Measurement and Estimation Techniques for Micro and Nanotechnology discusses micro, nano and robotic cells and gives a state-of-the-art presentation of the different techniques and solutions to measure and estimate signals at the micro and nano scale. New technologies and applications such as micromanipulation (artificial components, biological objects), micro-assembly (MEMS, MOEMS, NEMS) and material and surface force characterization are covered. The importance of sensing at the micro and nano scale is presented as a key issue in control systems, as well as for understanding the physical phenomena of these systems. The book also:
Explains issues that make signal measurement and estimation techniques difficult at the micro-nano-scale and offers solutions
Discusses automated micro-assembly, and control of micro-nano roboticdevices
Presents and links signal measurement and estimation techniques for micro-nano scale systems with microfabrication methods, sensors integration and control schemes
Signal Measurement and Estimation Techniques for Micro and Nanotechnology is a must-read for researchers and engineers working in MEMS and control systems."

System Modeling and Optimization XX deals with new developments in the areas of optimization, optimal control and system modeling. The themes range across various areas of optimization: continuous and discrete, numerical and analytical, finite and infinite dimensional, deterministic and stochastic, static and dynamic, theory and applications, foundations and case studies. Besides some classical topics, modern areas are also presented in the contributions, including robust optimization, filter methods, optimization of power networks, data mining and risk control.
This volume contains invited and selected papers from presentations at the 20th IFIP TC7 Conference on System Modeling and Optimization, which took place at the University of Trier, Germany from July 23 to 27, 2001, and which was sponsored by the International Federation for Information Processing (IFIP).

Safety critical and high-integrity systems, such as industrial plants and economic systems can be subject to abrupt changes - for instance due to component or interconnection failure, and sudden environment changes etc.

Combining probability and operator theory, Discrete-Time Markov Jump Linear Systems provides a unified and rigorous treatment of recent results for the control theory of discrete jump linear systems, which are used in these areas of application.

The book is designed for experts in linear systems with Markov jump parameters, but is also of interest for specialists in stochastic control since it presents stochastic control problems for which an explicit solution is possible - making the book suitable for course use.

From the reviews:

"This text is very well written...it may prove valuable to those who work in the area, are at home with its mathematics, and are interested in stability of linear systems, optimal control, and filtering." Journal of the American Statistical Association, December 2005

This book collects the lectures given at the NATO Advanced Study Institute From Identijication to Learning held in Villa Olmo, Como, Italy, from August 22 to September 2, 1994. The school was devoted to the themes of Identijication, Adaptation and Learning, as they are currently understood in the Information and Contral engineering community, their development in the last few decades, their inter connections and their applications. These titles describe challenging, exciting and rapidly growing research areas which are of interest both to contral and communication engineers and to statisticians and computer scientists. In accordance with the general goals of the Institute, and notwithstanding the rat her advanced level of the topics discussed, the presentations have been generally kept at a fairly tutorial level. For this reason this book should be valuable to a variety of rearchers and to graduate students interested in the general area of Control, Signals and Information Pracessing. As the goal of the school was to explore a common methodologicalline of reading the issues, the flavor is quite interdisciplinary. We regard this as an original and valuable feature of this book."

This book gives a unified treatment of classical input-output stability theory and recent developments in nonlinear robust and passivity-based control. The synthesis between these areas is provided by the theory of dissipative systems. Specifically, the small-gain and passivity theorems and their implications for nonlinear stability and stabilization are discussed from this vantage-ground. The connection between L2-gain and passivity via scattering is detailed.The passivity concepts are enriched by a generalised Hamiltonian formalism, emphasizing the close relations with modeling and control by interconnection. Feedback equivalence to a passive system and resulting stabilization strategies are discussed.The potential of L2-gain techniques in nonlinear control is demonstrated, including a compact treatment of the nonlinear H optimal control problem. This book supplies the reader with a succinct, informative summary of a fundamental and rapidly developing area of nonlinear control theory.

This book provides a unified collection of important, recent results for the design of robust controllers for uncertain systems. Most of the results presented are based on H? control theory, or its stochastic counterpart, risk sensitive control theory.Central to the philosophy of the book is the notion of an uncertain system. Uncertain systems are considered using several different uncertainty modeling schemes. These include norm bounded uncertainty, integral quadratic constraint (IQC) uncertainty and a number of stochastic uncertainty descriptions. In particular, the authors examine stochastic uncertain systems in which the uncertainty is outlined by a stochastic version of the IQC uncertainty description.For each class of uncertain systems covered in the book, corresponding robust control problems are defined and solutions discussed.

A spherical actuator is a novel electric device that can achieve 2/3-DOF rotational motions in a single joint with electric power input. It has advantages such as compact structure, low mass/moment of inertia, fast response and non-singularities within the workspace. It has promising applications in robotics, automobile, manufacturing, medicine and aerospace industry. This is the first monograph that introduces the research on spherical actuators systematically. It broadens the scope of actuators from conventional single-axis to multi-axis, which will help both beginners and researchers to enhance their knowledge on electromagnetic actuators. Generic analytic modeling methods for magnetic field and torque output are developed, which can be applied to the development of other electromagnetic actuators. A parametric design methodology that allows fast analysis and design of spherical actuators for various applications is proposed. A novel non-contact high-precision 3-DOF spherical motion sensing methodology is developed and evaluated with experiments, which shows that it can achieve one order of magnitude higher precision than conventional methods. The technologies of nondimensionalization and normalization are introduced into magnetic field analysis the first time, and a benchmark database is established for the reference of other researches on spherical actuators.

Recent advancements in Lyapunov-based design and analysis techniques have applications to a broad class of engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems. This book provides a practical yet rigorous development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.

Features include:

* Control designs for a broad class of engineering systems

* Presentation of adaptive and learning control methods for uncertain nonlinear systems

* Experimental testbed descriptions and results that guide the reader toward techniques for further research

* Development of necessary mathematical background in each chapter; additional mathematical prerequisites contained in two appendices

Intended for readers who have some knowledge of undergraduate systems theory, the book includes a wide range of applications making it suitable for an extensive audience. Graduate students and researchers in control systems, robotics, and applied mathematics, as well as professional engineers will appreciate the work s combination of theoretical underpinnings and current and emerging engineering applications."

The primary aim of this volume is to provide researchers and engineers from both academic and industry with up-to-date coverage of new results in the field of robotic welding, intelligent systems and automation. The book is mainly based on papers selected from the 2019 International Workshop on Intelligentized Welding Manufacturing (IWIWM'2019) in USA. The articles show that the intelligentized welding manufacturing (IWM) is becoming an inevitable trend with the intelligentized robotic welding as the key technology. The volume is divided into four logical parts: Intelligent Techniques for Robotic Welding, Sensing of Arc Welding Processing, Modeling and Intelligent Control of Welding Processing, as well as Intelligent Control and its Applications in Engineering.

This book presents applications of Newton-like and other similar methods to solve abstract functional equations involving fractional derivatives. It focuses on Banach space-valued functions of a real domain - studied for the first time in the literature. Various issues related to the modeling and analysis of fractional order systems continue to grow in popularity, and the book provides a deeper and more formal analysis of selected issues that are relevant to many areas - including decision-making, complex processes, systems modeling and control - and deeply embedded in the fields of engineering, computer science, physics, economics, and the social and life sciences. The book offers a valuable resource for researchers and graduate students, and can also be used as a textbook for seminars on the above-mentioned subjects. All chapters are self-contained and can be read independently. Further, each chapter includes an extensive list of references.

Increasing complexity in engineering projects raises difficult challenges in industry and requires effective tools for correct-by-construction design or design verification. This book addresses the design of such tools for correct-by-construction synthesis of supervisors for systems and specifications represented in the discrete-event framework. The approach employed uses Petri nets as discrete-event models and structural methods for the synthesis of supervisors, and may lead to significant computational benefits.Highlighting recent progress in the design of supervisors by structural methods, the book represents a novel contribution to the field. One of the main features of the presentation is the demonstration that structural methods can address a variety of supervisor specifications under diverse supervision settings. Applications of the methods presented are emphasized by considering various concurrency assumptions and types of system uncontrollability and unobservability. Also considered is the supervision problem for decentralized settings and hybrid dynamical systems. All proposed methods are fully worked-out, ready to use, and formally proven in a sound setting. design are also given. The work is self-contained and includes necessary background on Petri nets and supervision. Requiring only basic knowledge of undergraduate-level discrete mathematics, the text is accessible to a broad audience. Researchers and developers from various engineering fields may find effective means to reduce the complexity of design problems in the discrete-event setting. Graduate students may use the work as a self-study reference, and portions of the text may be used in advanced courses on discrete-event systems.

Efficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems. In particular, the simulation of single closed chains and simple closed-chain mechanisms is investigated in detail. Single closed chains are common in many applications, including industrial assembly operations, hazardous remediation, and space exploration. Simple closed-chain mechanisms include such familiar configurations as multiple manipulators moving a common load, dexterous hands, and multi-legged vehicles. The efficient dynamics simulation of these systems is often required for testing an advanced control scheme prior to its implementation, to aid a human operator during remote teleoperation, or to improve system performance. In conjunction with the dynamic simulation algorithms, efficient algorithms are also derived for the computation of the joint space and operational space inertia matrices of a manipulator. The manipulator inertia matrix is a significant component of any robot dynamics formulation and plays an important role in both simulation and control. The efficient computation of the inertia matrix is highly desirable for real-time implementation of robot dynamics algorithms. Several alternate formulations are provided for each inertia matrix. Computational efficiency in the algorithm is achieved by several means, including the development of recursive formulations and the use of efficient spatial transformations and mathematics. All algorithms are derived and presented in a convenient tabular format using a modified form of spatial notation, a six-dimensional vector notation which greatly simplifies the presentation and analysis of multibody dynamics. Basic definitions and fundamental principles required to use and understand this notation are provided. The implementation of the efficient spatial transformations is also discussed in some detail. As a means of evaluating efficiency, the number of scalar operations (multiplications and additions) required for each algorithm is tabulated after its derivation. Specification of the computational complexity of each algorithm in this manner makes comparison with other algorithms both easy and convenient. The algorithms presented in Efficient Dynamic Simulation of Robotic Mechanisms are among the most efficient robot dynamics algorithms available at this time. In addition to computational efficiency, special emphasis is also placed on retaining as much physical insight as possible during algorithm derivation. The algorithms are easy to follow and understand, whether the reader is a robotics novice or a seasoned specialist.

This book provides readers to the vision of Society 5.0, which was originally proposed in the fifth Basic Science and Technology Plan by Japan's government for a technology-based, human-centered society, emerging from the 4th industrial revolution (Industry 4.0). The implementation of AI and other modern techniques in a smart society requires automated data scheduling and analysis using smart applications, a smart infrastructure, smart systems, and a smart network. Features Provides an overview of basic concepts of Society 5.0 as well as the main pillars that supports the implementation of Society 5.0. Contains the most recent research analysis in the domain of computer vision, signal processing and computing sciences for facilitating the smart homes, buildings, transport, facilities, environmental conditions and cities, and the benefits these offer to a nation. Presents the readers with practical approaches of using AI and other algorithms for smart ecosystem to deals with human dynamics, the social objects, and their relations. Deals with the utilization of AI tools and other modern techniques for smart society as well as the current challenging issues and its solutions for transformation to Society 5.0. This book is aimed at graduate and post graduate students, researchers, academicians working in the field of computer science, artificial intelligence, and machine learning.

This book focuses on the framework and implementation of energy integration systems with energy and smart-control technologies. It describes in detail We-Energy, a novel energy interaction mode based on a cyber-physical-economy-energy model, which can be adopted to solve the problem of energy supply and utilization. It then analyzes the key devices and technologies for developing the Energy Internet, such as converters, energy-conversion devices, system-level connection devices, optimization control strategies, cyber-physical system security, energy-system stability, communication technologies' operating modes and distributed optimization algorithms, to enable readers to gain a comprehensive understanding of the topic. Lastly, it offers an outlook on the development of the Energy Internet, providing a reference for cross-integration between different disciplines. The book is an indispensable resource for power enterprises, manufacturers in the power-supply industry, and researchers in the field of Energy Internet application. It is also useful for university and college teachers and students seeking to deepen their understanding of the Energy Internet, as well as for readers interested in the Energy Internet correlation techniques.

This book presents the cyber culture of micro, macro, cosmological, and virtual computing. The book shows how these work to formulate, explain, and predict the current processes and phenomena monitoring and controlling technology in the physical and virtual space.The authors posit a basic proposal to transform description of the function truth table and structure adjacency matrix to a qubit vector that focuses on memory-driven computing based on logic parallel operations performance. The authors offer a metric for the measurement of processes and phenomena in a cyberspace, and also the architecture of logic associative computing for decision-making and big data analysis.The book outlines an innovative theory and practice of design, test, simulation, and diagnosis of digital systems based on the use of a qubit coverage-vector to describe the functional components and structures. Authors provide a description of the technology for SoC HDL-model diagnosis, based on Test Assertion Blocks Activated Graph. Examples of cyber-physical systems for digital monitoring and cloud management of social objects and transport are proposed. A presented automaton model of cosmological computing explains the cyclical and harmonious evolution of matter-energy essence, and also a space-time form of the Universe.

Recently, research in robot kinematics has attracted researchers with different theoretical profiles and backgrounds, such as mechanical and electrica! engineering, computer science, and mathematics. It includes topics and problems that are typical for this area and cannot easily be met elsewhere. As a result, a specialised scientific community has developed concentrating its interest in a broad class of problems in this area and representing a conglomeration of disciplines including mechanics, theory of systems, algebra, and others. Usually, kinematics is referred to as the branch of mechanics which treats motion of a body without regard to the forces and moments that cause it. In robotics, kinematics studies the motion of robots for programming, control and design purposes. It deals with the spatial positions, orientations, velocities and accelerations of the robotic mechanisms and objects to be manipulated in a robot workspace. The objective is to find the most effective mathematical forms for mapping between various types of coordinate systems, methods to minimise the numerical complexity of algorithms for real-time control schemes, and to discover and visualise analytical tools for understanding and evaluation of motion properties ofvarious mechanisms used in a robotic system.

This book focuses on solving different types of time-varying problems. It presents various Zhang dynamics (ZD) models by defining various Zhang functions (ZFs) in real and complex domains. It then provides theoretical analyses of such ZD models and illustrates their results. It also uses simulations to substantiate their efficacy and show the feasibility of the presented ZD approach (i.e., different ZFs leading to different ZD models), which is further applied to the repetitive motion planning (RMP) of redundant robots, showing its application potential.

The impact of control system design on ship performance has been significant in different applications of ship motion control: course keeping, station keeping, roll stabilisation and vertical motion/riding control, diving, path following, etc. This monograph introduces ship motion control by studying the particular problems of control system design for course autopilots with rudder roll stabilisation and combined ruddera "fin stabilisers. Ship Motion Control revisits the ingredients that make these control designs challenging and proposes a contemporary control system design approach to meet that challenge.

The key ingredients for a successful ship motion control system design are:

• appropriate mathematical models of the ship and the disturbances;
• understanding of how performance will be assessed;
• knowledge of fundamental limitations that may prevent designs from achieving the desired performance.

The book is organised in four parts, the first three dealing with each of these and the fourth part addressing control system design.

Specific topics covered include:

• modelling and simulation of ocean waves;
• ship dynamics;
• models of actuators;
• ship roll stabilisation devices;
• ship motion performance;
• analysis of fundamental limitations for stabiliser control system design;
• constrained control design via optimisation;
• autopilot design using optimal control;
• wave filtering;
• control system design for autopilots with rudder roll stabilisation;
• control system design for integrated rudder-fin stabiliser.

Ship Motion Control willbe of interest not only to the practising marine engineer but to the academic engaged in research into this important control problem, even if new to the area. It will also be an ideal source of reference for students and tutors involved with marine and control engineering courses.

The book covers the most common and important approaches for the identification of nonlinear static and dynamic systems. Additionally, it provides the reader with the necessary background on optimization techniques making the book self-contained. The emphasis is put on modern methods based on neural networks and fuzzy systems without neglecting the classical approaches. The entire book is written from an engineering point-of-view, focusing on the intuitive understanding of the basic relationships. This is supported by many illustrative figures. Advanced mathematics is avoided. Thus, the book is suitable for last year undergraduate and graduate courses as well as research and development engineers in industries.

This book of proceedings includes papers presenting the state of art in electrical engineering and control theory as well as their applications. The topics focus on classical as well as modern methods for modeling, control, identification and simulation of complex systems with applications in science and engineering. The papers were selected from the hottest topic areas, such as control and systems engineering, renewable energy, faults diagnosis-faults tolerant control, large-scale systems, fractional order systems, unconventional algorithms in control engineering, signals and communications. The control and design of complex systems dynamics, analysis and modeling of its behavior and structure is vitally important in engineering, economics and in science generally science today. Examples of such systems can be seen in the world around us and are a part of our everyday life. Application of modern methods for control, electronics, signal processing and more can be found in our mobile phones, car engines, home devices like washing machines is as well as in such advanced devices as space probes and systems for communicating with them. All these technologies are part of technological backbone of our civilization, making further research and hi-tech applications essential. The rich variety of contributions appeals to a wide audience, including researchers, students and academics.

System Modeling and Optimization is an indispensable reference for anyone interested in the recent advances in these two disciplines. The book collects, for the first time, selected articles from the 21st and most recent IFIP TC 7 conference in Sophia Antipolis, France.

Applied mathematicians and computer scientists can attest to the ever-growing influence of these two subjects. The practical applications of system modeling and optimization can be seen in a number of fields: environmental science, transport and telecommunications, image analysis, free boundary problems, bioscience, and non-cylindrical evolution control, to name just a few.

New developments in each of these fields have contributed to a more complex understanding of both system modeling and optimization. Editors John Cagnol and Jean-Paul Zolesio, chairs of the conference, have assembled System Modeling and Optimization to present the most up-to-date developments to professionals and academics alike.