Embedded Control for Mobile Robotic Applications (IEEE Press Series on Control Systems Theory and Applications)

An all-in-one resource for designing and implementing embedded control in mobile roboticsIn Embedded Control for Mobile Robotic Applications, 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. The 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). The 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: A thorough introduction to embedded control, including processor, IC, and design technology, as well as a discussion of limitations in embedded control designComprehensive explorations of the bottom-up and top-down methods, including computations using CORDIC, interval arithmetic, sliding surface design, and switched nonlinear systemsPractical discussions of generic FPGA architecture design, including Verilog, PID controllers, DC motors and Encoder, and a systematic approach for designing architecture using FSMDIn-depth examinations of discrete-time controller design, including the approximation to discrete-time transfer function and embedded implementation stabilityPerfect for practitioners working in embedded control design and control applications in robotics, Embedded Control for Mobile Robotic Applications will also earn a place in the libraries of academicians, researchers, senior undergraduate students, and graduate students in these fields. Read more