{"product_id":"embedded-control-for-mobile-robotic-applications-hardback-9781119812388","title":"Embedded Control for Mobile Robotic Applications (Hardback) 9781119812388","description":"\u003cfont face=\"Georgia\"\u003e\r\n\u003cp\u003e\u003cfont size=\"6\"\u003eEmbedded Control for Mobile Robotic Applications\u003c\/font\u003e\u003cbr\u003e\r\n\r\n\r\n\r\n\r\n\r\n\u003c\/p\u003e\n\u003cp\u003e\u003cfont size=\"4\"\u003eLeena Vachhani (Author), Pranjal Vyas (Author), Arunkumar G. K. (Author)\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\u003cp\u003e\u003cfont size=\"3\"\u003e9781119812388, Wiley\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\u003cp\u003e\u003cfont size=\"3\"\u003eHardback, published 29 August 2022\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\u003cp\u003e\u003cfont size=\"3\"\u003e176 pages\u003cbr\u003e1 x 1 x 1 cm, 0.454 kg\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\r\n\r\n\r\n\r\n\u003cp align=\"justify\"\u003e\u003cstrong\u003e\u003cfont size=\"3\"\u003e\u003cb\u003eAn all-in-one resource for designing and implementing embedded control in mobile robotics\u003c\/b\u003e  \u003cp\u003eIn \u003ci\u003eEmbedded Control for Mobile Robotic Applications,\u003c\/i\u003e a distinguished trio of researchers delivers an authoritative and fulsome resource for understanding embedded control and robotics. The book includes coverage of a variety of embedded platforms, their use in controller implementation, stability analyses of designed controllers, and two new approaches for designing embedded controllers.  \u003c\/p\u003e\n\u003cp\u003eThe authors offer a full chapter on Field-Programmable-Gate-Array (FPGA) architecture development for controller design that is perfect for both practitioners and students taking robotics courses and provide a companion website that includes MATLAB codes for simulation and embedded platform-specific code for mobile robotic applications (in Embedded C and Verilog).  \u003c\/p\u003e\n\u003cp\u003eThe two approaches discussed by the authors—the top-down methodology and the bottom-up methodology—are of immediate practical utility to both practicing professionals in the field and students studying control applications and mobile robotics. The book also offers: \u003c\/p\u003e\n\u003cul\u003e \u003cli\u003eA thorough introduction to embedded control, including processor, IC, and design technology, as well as a discussion of limitations in embedded control design\u003c\/li\u003e \u003cli\u003eComprehensive explorations of the bottom-up and top-down methods, including computations using CORDIC, interval arithmetic, sliding surface design, and switched nonlinear systems\u003c\/li\u003e \u003cli\u003ePractical discussions of generic FPGA architecture design, including Verilog, PID controllers, DC motors and Encoder, and a systematic approach for designing architecture using FSMD\u003c\/li\u003e \u003cli\u003eIn-depth examinations of discrete-time controller design, including the approximation to discrete-time transfer function and embedded implementation stability\u003c\/li\u003e \u003c\/ul\u003e \u003cp\u003ePerfect for practitioners working in embedded control design and control applications in robotics, \u003ci\u003eEmbedded Control for Mobile Robotic Applications\u003c\/i\u003e will also earn a place in the libraries of academicians, researchers, senior undergraduate students, and graduate students in these fields.\u003c\/p\u003e\u003c\/font\u003e\u003c\/strong\u003e\u003c\/p\u003e\r\n\r\n\u003cp\u003e\u003cfont size=\"3\"\u003e\u003cp\u003eContributors ix\u003c\/p\u003e \u003cp\u003ePreface xi\u003c\/p\u003e \u003cp\u003eAcknowledgments xv\u003c\/p\u003e \u003cp\u003eAcronyms xvii\u003c\/p\u003e \u003cp\u003eIntroduction xxi\u003c\/p\u003e \u003cp\u003e\u003cb\u003e1 Embedded Technology for Mobile Robotics 1\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e1.1 Embedded Control System 2\u003c\/p\u003e \u003cp\u003e1.2 Mobile Robotics 4\u003c\/p\u003e \u003cp\u003e1.2.1 Robot Model for 2D Motion 5\u003c\/p\u003e \u003cp\u003e1.2.2 Robot Model for 3D Motion 20\u003c\/p\u003e \u003cp\u003e1.3 Embedded Technology 29\u003c\/p\u003e \u003cp\u003e1.3.1 Processor technology 31\u003c\/p\u003e \u003cp\u003e1.3.2 IC technology 33\u003c\/p\u003e \u003cp\u003e1.4 Commercially available embedded processors 35\u003c\/p\u003e \u003cp\u003e1.4.1 Microprocessor 35\u003c\/p\u003e \u003cp\u003e1.4.2 Microcontroller 36\u003c\/p\u003e \u003cp\u003e1.4.3 Field Programmable Gate Arrays (FPGA) 37\u003c\/p\u003e \u003cp\u003e1.4.4 Digital Signal Processor 38\u003c\/p\u003e \u003cp\u003e1.5 Notes and further readings 39\u003c\/p\u003e \u003cp\u003e\u003cb\u003e2 Discrete-time controller design 41\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e2.1 Transfer function for equivalent discrete-time system 42\u003c\/p\u003e \u003cp\u003e2.2 Discrete-time PID Controller design 49\u003c\/p\u003e \u003cp\u003e2.3 Stability in embedded implementation 52\u003c\/p\u003e \u003cp\u003e2.3.1 Sampling 52\u003c\/p\u003e \u003cp\u003e2.3.2 Quantization 55\u003c\/p\u003e \u003cp\u003e2.3.3 Processing time 62\u003c\/p\u003e \u003cp\u003e2.4 Notes and Further Readings 62\u003c\/p\u003e \u003cp\u003e\u003cb\u003e3 Embedded Control and Robotics 65\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e3.1 Transformations 67\u003c\/p\u003e \u003cp\u003e3.1.1 2D Transformations 67\u003c\/p\u003e \u003cp\u003e3.1.2 3D Transformations 71\u003c\/p\u003e \u003cp\u003e3.2 Collision detection \u0026amp; avoidance 73\u003c\/p\u003e \u003cp\u003e3.2.1 Vector field histogram (VFH) 74\u003c\/p\u003e \u003cp\u003e3.2.2 Curvature Velocity Technique (CVM) 76\u003c\/p\u003e \u003cp\u003e3.2.3 Dynamic Window Approach (DWA) 76\u003c\/p\u003e \u003cp\u003e3.3 Localization 78\u003c\/p\u003e \u003cp\u003e3.4 Path Planning 83\u003c\/p\u003e \u003cp\u003e3.4.1 Potential field path planning 84\u003c\/p\u003e \u003cp\u003e3.4.2 Graph-based path planning 87\u003c\/p\u003e \u003cp\u003e3.5 Multi-agent scenarios 93\u003c\/p\u003e \u003cp\u003e3.6 Notes and Further Readings 97\u003c\/p\u003e \u003cp\u003e\u003cb\u003e4 Bottom-up Method 99\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e4.1 Computations using CORDIC1 100\u003c\/p\u003e \u003cp\u003e4.1.1 Coordinate transformation 103\u003c\/p\u003e \u003cp\u003e4.1.2 Exponential and logarithmic functions 104\u003c\/p\u003e \u003cp\u003e4.2 Interval Arithmetic2 105\u003c\/p\u003e \u003cp\u003e4.2.1 Basics of Interval Arithmetic 105\u003c\/p\u003e \u003cp\u003e4.2.2 Inclusion Function and inclusion tests 108\u003c\/p\u003e \u003cp\u003e4.3 Collision detection using interval technique3 110\u003c\/p\u003e \u003cp\u003e4.4 Free interval computation for collision avoidance4 115\u003c\/p\u003e \u003cp\u003e4.5 Notes for further reading 119\u003c\/p\u003e \u003cp\u003e\u003cb\u003e5 Top-Down Method 123\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e5.1 Robust controller design 124\u003c\/p\u003e \u003cp\u003e5.1.1 Basic Definitions 125\u003c\/p\u003e \u003cp\u003e5.1.2 State feedback control 128\u003c\/p\u003e \u003cp\u003e5.1.3 Sliding mode control 133\u003c\/p\u003e \u003cp\u003e5.1.4 Sliding surface design for position stabilization in 2D 144\u003c\/p\u003e \u003cp\u003e5.1.5 Position stabilization for a vehicle in 3D 149\u003c\/p\u003e \u003cp\u003e5.1.6 Embedded implementation 159\u003c\/p\u003e \u003cp\u003e5.2 Switched nonlinear system 160\u003c\/p\u003e \u003cp\u003e5.2.1 Swarm Aggregation as a switched nonlinear system 164\u003c\/p\u003e \u003cp\u003e5.2.2 Embedded Implementation 169\u003c\/p\u003e \u003cp\u003e5.3 Notes and Further Readings 170\u003c\/p\u003e \u003cp\u003e\u003cb\u003e6 Generic FPGA architecture design 173\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e6.1 FPGA basics and Verilog 174\u003c\/p\u003e \u003cp\u003e6.2 Systematic approach for designing architecture using FSM1 182\u003c\/p\u003e \u003cp\u003e6.2.1 PID controller architecture 183\u003c\/p\u003e \u003cp\u003e6.2.2 Sliding Mode Controller Architecture 190\u003c\/p\u003e \u003cp\u003e6.3 FPGA implementation 194\u003c\/p\u003e \u003cp\u003e6.4 Parallel Implementation of Multiple Controllers 200\u003c\/p\u003e \u003cp\u003e6.5 Notes and Further Readings 201\u003c\/p\u003e \u003cp\u003e\u003cb\u003e7 Summary 203\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003eContributors ix\u003c\/p\u003e \u003cp\u003ePreface xi\u003c\/p\u003e \u003cp\u003eAcknowledgments xv\u003c\/p\u003e \u003cp\u003eAcronyms xvii\u003c\/p\u003e \u003cp\u003eIntroduction xxi\u003c\/p\u003e \u003cp\u003e\u003cb\u003e1 Embedded Technology for Mobile Robotics 1\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e1.1 Embedded Control System 2\u003c\/p\u003e \u003cp\u003e1.2 Mobile Robotics 4\u003c\/p\u003e \u003cp\u003e1.2.1 Robot Model for 2D Motion 5\u003c\/p\u003e \u003cp\u003e1.2.2 Robot Model for 3D Motion 20\u003c\/p\u003e \u003cp\u003e1.3 Embedded Technology 29\u003c\/p\u003e \u003cp\u003e1.3.1 Processor technology 31\u003c\/p\u003e \u003cp\u003e1.3.2 IC technology 33\u003c\/p\u003e \u003cp\u003e1.4 Commercially available embedded processors 35\u003c\/p\u003e \u003cp\u003e1.4.1 Microprocessor 35\u003c\/p\u003e \u003cp\u003e1.4.2 Microcontroller 36\u003c\/p\u003e \u003cp\u003e1.4.3 Field Programmable Gate Arrays (FPGA) 37\u003c\/p\u003e \u003cp\u003e1.4.4 Digital Signal Processor 38\u003c\/p\u003e \u003cp\u003e1.5 Notes and further readings 39\u003c\/p\u003e \u003cp\u003e\u003cb\u003e2 Discrete-time controller design 41\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e2.1 Transfer function for equivalent discrete-time system 42\u003c\/p\u003e \u003cp\u003e2.2 Discrete-time PID Controller design 49\u003c\/p\u003e \u003cp\u003e2.3 Stability in embedded implementation 52\u003c\/p\u003e \u003cp\u003e2.3.1 Sampling 52\u003c\/p\u003e \u003cp\u003e2.3.2 Quantization 55\u003c\/p\u003e \u003cp\u003e2.3.3 Processing time 62\u003c\/p\u003e \u003cp\u003e2.4 Notes and Further Readings 62\u003c\/p\u003e \u003cp\u003e\u003cb\u003e3 Embedded Control and Robotics 65\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e3.1 Transformations 67\u003c\/p\u003e \u003cp\u003e3.1.1 2D Transformations 67\u003c\/p\u003e \u003cp\u003e3.1.2 3D Transformations 71\u003c\/p\u003e \u003cp\u003e3.2 Collision detection \u0026amp; avoidance 73\u003c\/p\u003e \u003cp\u003e3.2.1 Vector field histogram (VFH) 74\u003c\/p\u003e \u003cp\u003e3.2.2 Curvature Velocity Technique (CVM) 76\u003c\/p\u003e \u003cp\u003e3.2.3 Dynamic Window Approach (DWA) 76\u003c\/p\u003e \u003cp\u003e3.3 Localization 78\u003c\/p\u003e \u003cp\u003e3.4 Path Planning 83\u003c\/p\u003e \u003cp\u003e3.4.1 Potential field path planning 84\u003c\/p\u003e \u003cp\u003e3.4.2 Graph-based path planning 87\u003c\/p\u003e \u003cp\u003e3.5 Multi-agent scenarios 93\u003c\/p\u003e \u003cp\u003e3.6 Notes and Further Readings 97\u003c\/p\u003e \u003cp\u003e\u003cb\u003e4 Bottom-up Method 99\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e4.1 Computations using CORDIC1 100\u003c\/p\u003e \u003cp\u003e4.1.1 Coordinate transformation 103\u003c\/p\u003e \u003cp\u003e4.1.2 Exponential and logarithmic functions 104\u003c\/p\u003e \u003cp\u003e4.2 Interval Arithmetic2 105\u003c\/p\u003e \u003cp\u003e4.2.1 Basics of Interval Arithmetic 105\u003c\/p\u003e \u003cp\u003e4.2.2 Inclusion Function and inclusion tests 108\u003c\/p\u003e \u003cp\u003e4.3 Collision detection using interval technique3 110\u003c\/p\u003e \u003cp\u003e4.4 Free interval computation for collision avoidance4 115\u003c\/p\u003e \u003cp\u003e4.5 Notes for further reading 119\u003c\/p\u003e \u003cp\u003e\u003cb\u003e5 Top-Down Method 123\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e5.1 Robust controller design 124\u003c\/p\u003e \u003cp\u003e5.1.1 Basic Definitions 125\u003c\/p\u003e \u003cp\u003e5.1.2 State feedback control 128\u003c\/p\u003e \u003cp\u003e5.1.3 Sliding mode control 133\u003c\/p\u003e \u003cp\u003e5.1.4 Sliding surface design for position stabilization in 2D 144\u003c\/p\u003e \u003cp\u003e5.1.5 Position stabilization for a vehicle in 3D 149\u003c\/p\u003e \u003cp\u003e5.1.6 Embedded implementation 159\u003c\/p\u003e \u003cp\u003e5.2 Switched nonlinear system 160\u003c\/p\u003e \u003cp\u003e5.2.1 Swarm Aggregation as a switched nonlinear system 164\u003c\/p\u003e \u003cp\u003e5.2.2 Embedded Implementation 169\u003c\/p\u003e \u003cp\u003e5.3 Notes and Further Readings 170\u003c\/p\u003e \u003cp\u003e\u003cb\u003e6 Generic FPGA architecture design 173\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e6.1 FPGA basics and Verilog 174\u003c\/p\u003e \u003cp\u003e6.2 Systematic approach for designing architecture using FSM1 182\u003c\/p\u003e \u003cp\u003e6.2.1 PID controller architecture 183\u003c\/p\u003e \u003cp\u003e6.2.2 Sliding Mode Controller Architecture 190\u003c\/p\u003e \u003cp\u003e6.3 FPGA implementation 194\u003c\/p\u003e \u003cp\u003e6.4 Parallel Implementation of Multiple Controllers 200\u003c\/p\u003e \u003cp\u003e6.5 Notes and Further Readings 201\u003c\/p\u003e \u003cp\u003e\u003cb\u003e7 Summary 203\u003c\/b\u003e\u003c\/p\u003e\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\u003cp\u003e\u003cfont size=\"3\"\u003eSubject Areas: Electronics \u0026amp; communications engineering [\u003ca title=\"See our other books on Electronics \u0026amp; communications engineering\" href=\"https:\/\/freshlyprintedbooks.co.uk\/search?q=%22Electronics%20\u0026amp;%20communications%20engineering%20%5BTJ%5D%22\"\u003eTJ\u003c\/a\u003e]\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\r\n\u003c\/font\u003e","brand":"Wiley-IEEE Press","offers":[{"title":"Brand New","offer_id":52430967374104,"sku":"9781119812388","price":79.29,"currency_code":"GBP","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0730\/2037\/5320\/files\/9781119812388.jpg?v=1784766517","url":"https:\/\/freshlyprintedbooks.co.uk\/products\/embedded-control-for-mobile-robotic-applications-hardback-9781119812388","provider":"Freshly Printed Books","version":"1.0","type":"link"}