Dynamics and Advanced Motion Control of Off-Road UGVs
- 3h 41m
- Yu Mae
- Elsevier Science and Technology Books, Inc.
- 2021
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. The book 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, motion stability, motion control, 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.
In this Book
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Foreword
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Introduction
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Modeling of Track–Soil Interaction for Tracked Unmanned Ground Vehicle
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Dynamics of Tracked UGVs in Three-Dimensional Space
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Modeling of Driving Modules of Unmanned Ground Vehicle
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Modeling of Wheel–Soil Interaction and Dynamics of Wheeled Unmanned Ground Vehicle in Three-Dimensional Space
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Motion Stability Performance Concepts
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State and Load Observer of Unmanned Ground Vehicle
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Motion Stability Enhanced Controller Design
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Power Management Technology
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Torque Vectoring Technology
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Fault Detection and Identification of Unmanned Ground Vehicle
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Fault-Tolerance Control of Unmanned Ground Vehicle under Off-Road Situation
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Conclusions and Prospects
