The chapter analyzes methods and presents results on control and estimation based on approximate linearization for autonomous vehicles: (i) nonlinear control of tracked autonomous vehicles, (ii) nonlinear control of the autonomous fire-truck, (iii) nonlinear control of the truck and N-trailer system, (iv) nonlinear control of the ball-bot autonomous robot, (v) Nonlinear control of the ball-and-plate dynamical system, (vi) nonlinear control of 3-DOF unmanned surface vessels, (vii) nonlinear control of the 3-DOF autonomous underwater vessel, (viii) nonlinear control of the Vertical Take-off and Landing Aircraft, (ix) nonlinear control of aerial manipulators, (x) Nonlinear control of the 6-DOF autonomous octocopter, and (xi) nonlinear control of hypersonic aerial vehicles.

Chapter Contents:

• Abstract
• 3.1 Nonlinear control of tracked autonomous vehicles
• 3.1.1 Outline
• 3.1.2 Kinematic model of the tracked mobile robot
• 3.1.3 Approximate Slinearization of the model of the tracked vehicle
• 3.1.4 Simulation tests
• 3.2 Nonlinear control of the autonomous articulated fire-truck
• 3.2.1 Outline
• 3.2.2 Kinematic model of the autonomous fire-truck robot
• 3.2.3 Approximate linearization of the model of the autonomous fire-truck
• 3.2.4 The nonlinear H-infinity control
• 3.2.5 Simulation tests
• 3.3 Nonlinear control of the truck and N-trailer system
• 3.3.1 Outline
• 3.3.2 Kinematic model of the truck and N trailer robotic system
• 3.3.3 Approximate linearization of the truck and N-trailer robotic system
• 3.3.4 Simulation tests
• 3.4 Nonlinear control of the ball-bot autonomous robot
• 3.4.1 Outline
• 3.4.2 Dynamic model of the ballbot
• 3.4.3 Approximate linearization of the ballbot's state-space model
• 3.4.4 Computation of the feedback control gains
• 3.4.5 Simulation tests
• 3.5 Nonlinear control of the ball-and-plate dynamical system
• 3.5.1 Outline
• 3.5.2 Dynamic model of the ball and plate system
• 3.5.3 Approximate linearization of the model of the ball and plate system
• 3.5.4 Simulation tests
• 3.6 Nonlinear control of 3-DOF unmanned surface vessels
• 3.6.1 Outline
• 3.6.2 Dynamic model of the Unmanned Surface Vessel
• 3.6.3 Approximate linearization of the USV state-space model
• 3.6.4 Simulation tests
• 3.7 Nonlinear control of the 3-DOF autonomous underwater vessel
• 3.7.1 Outline
• 3.7.2 Kinematic and dynamic model of the AUV
• 3.7.3 Differential flatness properties of the AUV's model
• 3.7.4 Approximate linearization of the state-space model of the AUV
• 3.7.5 Simulation tests
• 3.8 Nonlinear control of the vertical take-off and landing aircraft
• 3.8.1 Outline
• 3.8.2 Dynamic model of the vertical take-off and landing aircraft
• 3.8.3 Differential flatness properties of the VTOL aircraft
• 3.8.4 Approximate linearization of the VTOL aircraft dynamic model
• 3.8.5 H-infinity feedback control
• 3.8.6 Simulation tests
• 3.9 Nonlinear control of aerial manipulators
• 3.9.1 Outline
• 3.9.2 Dynamic model of the aerial robotic manipulator
• 3.9.3 Approximate linearization of the model of the aerial robotic manipulator
• 3.9.4 Differential flatness properties of the aerial robotic manipulator
• 3.9.5 Computation of the feedback control gains
• 3.9.6 Simulation tests
• 3.10 Nonlinear control of the 6-DOF autonomous octocopter
• 3.10.1 Outline
• 3.10.2 Dynamic model of the octorotor
• 3.10.3 Approximate linearization of the octorotor's model
• 3.10.4 Simulation tests
• 3.11 Nonlinear control of hypersonic aerial vehicles
• 3.11.1 Outline
• 3.11.2 Dynamic model of the autonomous hypersonic aerial vehicle
• 3.11.3 Differential flatness properties of the hypersonic vehicle
• 3.11.4 Approximate linearization for the dynamic model of the hypersonic vehicle
• 3.11.5 Computation of the feedback control gains
• 3.11.6 Simulation tests

Inspec keywords: manipulators; vehicle dynamics; position control; autonomous aerial vehicles; nonlinear control systems; unmanned surface vehicles; aircraft control; mobile robots

Other keywords: vertical take-off and landing aircraft; nonlinear control; aerial manipulators; N-trailer system; autonomous fire-truck; 6-DOF autonomous octocopter; tracked autonomous vehicles; 3-DOF unmanned surface vessels; approximate linearization; hypersonic aerial vehicles; ball-bot autonomous robot

Subjects: Telerobotics; Vehicle mechanics; Manipulators; Marine system control; Spatial variables control; Mobile robots; Nonlinear control systems; Aerospace control