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Small Unmanned Aircraft
Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level aut...
Distributed Consensus in Multi-vehicle Cooperative Control
Assuming only neighbor-neighbor interaction among vehicles, this monograph develops distributed consensus strategies that ensure that the information states of all vehicles in a network converge to a common value. Readers learn to deal with groups of autonomous vehicles in aerial, terrestrial, and submarine environments. Plus, they get the tools needed to overcome impaired communication by using constantly updated neighbor-neighbor interchange.
Introduction to Feedback Control Using Design Studies
This textbook provides a unique introduction to Feedback Control. It differs from typical control books by presenting principles in the context of three specific design examples: a one link robot arm, a pendulum on a cart, and a satellite attitude problem. These three design examples illustrate the full process of implementing control strategies on mechanical systems. The book begins by introducing the Euler Lagrange method for modeling mechanical systems and discusses computer simulation of these models. Linear design models are developed, specifically transfer function and state space models, that capture the behavior of the system around equilibria. The book then presents three different design strategies for output feedback control: PID control, observer based design, and loopshaping design methods based on the frequency response of the system. Extensive examples show how the controllers are implemented in Simulink, Matlab object oriented code, and Python.
Control of Spacecraft and Aircraft
Here a leading researcher provides a comprehensive treatment of the design of automatic control logic for spacecraft and aircraft. In this book Arthur Bryson describes the linear-quadratic-regulator (LQR) method of feedback control synthesis, which coordinates multiple controls, producing graceful maneuvers comparable to those of an expert pilot. The first half of the work is about attitude control of rigid and flexible spacecraft using momentum wheels, spin, fixed thrusters, and gimbaled engines. Guidance for nearly circular orbits is discussed. The second half is about aircraft attitude and flight path control. This section discusses autopilot designs for cruise, climb-descent, coordinated turns, and automatic landing. One chapter deals with controlling helicopters near hover, and another offers an introduction to the stabilization of aeroelastic instabilities. Throughout the book there is a strong emphasis on the mathematical modeling necessary for designing a good feedback control system. The appendixes summarize analysis of linear dynamic systems, synthesis of analog and digital feedback control, simulation, and modeling of flexible vehicles.
Aircraft Dynamics and Automatic Control
Aeronautical engineers concerned with the analysis of aircraft dynamics and the synthesis of aircraft flight control systems will find an indispensable tool in this analytical treatment of the subject. Approaching these two fields with the conviction that an understanding of either one can illuminate the other, the authors have summarized selected, interconnected techniques that facilitate a high level of insight into the essence of complex systems problems. These techniques are suitable for establishing nominal system designs, for forecasting off-nominal problems, and for diagnosing the root causes of problems that almost inevitably occur in the design process. A complete and self-contained...
Engineering Dynamics
This textbook introduces undergraduate students to engineering dynamics using an innovative approach that is at once accessible and comprehensive. Combining the strengths of both beginner and advanced dynamics texts, this book has students solving dynamics problems from the very start and gradually guides them from the basics to increasingly more challenging topics without ever sacrificing rigor. Engineering Dynamics spans the full range of mechanics problems, from one-dimensional particle kinematics to three-dimensional rigid-body dynamics, including an introduction to Lagrange's and Kane's methods. It skillfully blends an easy-to-read, conversational style with careful attention to the phy...
Decision Making Under Uncertainty
An introduction to decision making under uncertainty from a computational perspective, covering both theory and applications ranging from speech recognition to airborne collision avoidance. Many important problems involve decision making under uncertainty—that is, choosing actions based on often imperfect observations, with unknown outcomes. Designers of automated decision support systems must take into account the various sources of uncertainty while balancing the multiple objectives of the system. This book provides an introduction to the challenges of decision making under uncertainty from a computational perspective. It presents both the theory behind decision making models and algorit...
Sensing and Control for Autonomous Vehicles
This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.
Cooperative Control
Are there universal principles of coordinated group motion and if so what might they be? This carefully edited book presents how natural groupings such as fish schools, bird flocks, deer herds etc. coordinate themselves and move so flawlessly, often without an apparent leader or any form of centralized control. It shows how the underlying principles of cooperative control may be used for groups of mobile autonomous agents to help enable a large group of autonomous robotic vehicles in the air, on land or sea or underwater, to collectively accomplish useful tasks such as distributed, adaptive scientific data gathering, search and rescue, or reconnaissance.
Innovations in Intelligent Machines - 1
This book is a collection of chapters on the state of art in the area of intelligent machines. This research provides a sound basis to make autonomous systems human-like. The contributions include an introduction to intelligent machines; supervisory control of multiple UAVs; and intelligent autonomous UAV task allocation. Also included is material on UAV path planning; dynamic path planning ; state estimation of micro air vehicles and architecture for soccer playing robots, as well as robot perception.
