Nonlinear Control of Vehicles and Robots

  • Béla Lantos
  • Lőrinc Márton

Part of the Advances in Industrial Control book series (AIC)

Table of contents

  1. Front Matter
    Pages I-XXVIII
  2. Béla Lantos, Lőrinc Márton
    Pages 1-9
  3. Béla Lantos, Lőrinc Márton
    Pages 11-80
  4. Béla Lantos, Lőrinc Márton
    Pages 81-133
  5. Béla Lantos, Lőrinc Márton
    Pages 135-168
  6. Béla Lantos, Lőrinc Márton
    Pages 169-197
  7. Béla Lantos, Lőrinc Márton
    Pages 199-243
  8. Béla Lantos, Lőrinc Márton
    Pages 245-268
  9. Béla Lantos, Lőrinc Márton
    Pages 269-290
  10. Béla Lantos, Lőrinc Márton
    Pages 291-318
  11. Béla Lantos, Lőrinc Márton
    Pages 319-342
  12. Béla Lantos, Lőrinc Márton
    Pages 385-388
  13. Back Matter
    Pages 389-462

About this book


Tracking of autonomous vehicles and the high-precision positioning of robotic manipulators require advanced modeling techniques and control algorithms. Controller design should take into account any model nonlinearities.

Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. To begin with, the main classes of nonlinear systems and stability methods are summarized. Basic nonlinear control methods useful in manipulator and vehicle control – linearization, backstepping, sliding-mode and receding-horizon control – are presented. Formation control of ground robots and ships is discussed.

The second part of the book deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities including analysis of their influence on the performance of motion control systems. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated.

Theoretical (guaranteed stability, guaranteed tracking precision, boundedness of all signals in the control loop) and practical (implementability) aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors such as Inertial Measurement System, Global Positioning System and vision systems as part of the control system.

Nonlinear Control of Vehicles and Robots will interest academic researchers studying the control of robots and industrial research and development engineers and graduate students wishing to become familiar with modern control algorithms and modeling techniques for the most common mechatronics systems: vehicles and robot manipulators.


Automotive Control Automotive Engineering Control Control Algorithms Control Applications Control Engineering Global Positioning System Inertial Measurement System Mechatronics Modeling Nonlinear Systems Nonsmooth Nonlinearities OJ1412 Robot Control Robotics UAV Underwater Vehicles Unmanned Aerial Vehicles Vehicle Control

Authors and affiliations

  • Béla Lantos
    • 1
  • Lőrinc Márton
    • 2
  1. 1.Control Engineering & Inform. TechnologyBudapest Univ. of Technology & EconomicsBudapestHungary
  2. 2.Dept. Electrical EngineeringSapientia Hungarian Univ. TransylvaniaTargu MuresRomania

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag London Limited 2011
  • Publisher Name Springer, London
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-1-84996-121-9
  • Online ISBN 978-1-84996-122-6
  • Series Print ISSN 1430-9491
  • Series Online ISSN 2193-1577
  • Buy this book on publisher's site