Long description:

Autonomous Electric Vehicles explores cutting-edge technologies revolutionizing transportation and city navigation. Novel solutions to the control problem of the complex nonlinear dynamics of robotized electric vehicles are developed and tested. The new control methods are free of shortcomings met in control schemes which are based on diffeomorphisms and global linearization (complicated changes of state variables, forward and backwards state-space transformations, singularities). It is shown that such methods can be used in the steering and traction system of several types of robotized electric vehicles without needing to transform the state-space model of these systems into equivalent linearized forms. It is also shown that the new control methods can be implemented in a computationally simple manner and are also followed by global stability proofs.

• Proposes solutions for path following and localization problems of AGVs, USVs, AUVs, and UAVs, as well as solutions for the associated power supply and power management problems
• Targets jointly at improved performance for the autonomous navigation system and at optimality for the power management and electric traction system of robotized electric vehicles
• Presents nonlinear control, traction, and propulsion methods which ensure that minimization of energy consumption by autonomous electric vehicles is achieved under a zero-carbon imprint
• Is accompanied by audiovisual material explaining the contents of the individual sections of the monograph

Table of Contents:

Part I. Control and estimation of robotized vehicles’ dynamics and kinematics
1. Nonlinear optimal control and Lie algebra-based control
2. Flatness-based control in successive loops for complex nonlinear dynamical systems
3. Nonlinear optimal control for car-like front-wheel steered autonomous ground vehicles
4. Nonlinear optimal control for skid-steered autonomous ground vehicles
5. Flatness-based control in successive loops for 3-DOF unmanned surface vessels
6. Flatness-based control in successive loops for 3-DOF autonomous underwater vessels
7. Flatness-based control in successive loops for 6-DOF autonomous underwater vessels
8. Flatness-based control in successive loops for 6-DOF autonomous quadrotors
9. Flatness-based control in successive loops for 6-DOF autonomous octocopters
10. Nonlinear optimal control for 6-DOF tilt rotor autonomous quadrotors
11. Flatness-based adaptive neurofuzzy control of the four-wheel autonomous ground vehicles
12. H-infinity adaptive neurofuzzy control of the four-wheel autonomous ground vehicles
13. Fault diagnosis for four-wheel autonomous ground vehicles

Part II. Control and estimation of electric autonomous vehicles’ traction
14. Flatness-based control in successive loops for VSI-fed three-phase permanent magnet synchronous motors
15. Flatness-based control in successive loops for VSI-fed three-phase induction motors
16. Flatness-based control in successive loops and nonlinear optimal control for five-phase permanent magnet synchronous motors
17. Flatness-based control in successive loops for VSI-fed six-phase asynchronous motors
18. Flatness-based control in successive lops for nine-phase permanent magnet synchronous motors
19. Flatness-based control in successive loops of a vehicle’s clutch with actuation for permanent magnet linear synchronous motors
20. Flatness-based control in successive loops for electrohydraulic actuators
21. Flatness-based control in successive loops for electropneumatic actuators
22. Flatness-based adaptive neurofuzzy control of three-phase permanent magnet synchronous motors
23. H-infinity adaptive neurofuzzy control of three-phase permanent magnet synchronous motors
24. Fault diagnosis of a hybrid electric vehicle’s powertrain