Embedded Control for Mobile Robotic Applications


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<b>An all-in-one resource for designing and implementing embedded control in mobile robotics</b> <p>In <i>Embedded Control for Mobile Robotic Applications,</i> 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. <p>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). <p>The two approaches discussed by the authors&mdash;the top-down methodology and the bottom-up methodology&mdash;are of immediate practical utility to both practicing professionals in the field and students studying control applications and mobile robotics. The book also offers: <ul> <li>A thorough introduction to embedded control, including processor, IC, and design technology, as well as a discussion of limitations in embedded control design</li> <li>Comprehensive explorations of the bottom-up and top-down methods, including computations using CORDIC, interval arithmetic, sliding surface design, and switched nonlinear systems</li> <li>Practical discussions of generic FPGA architecture design, including Verilog, PID controllers, DC motors and Encoder, and a systematic approach for designing architecture using FSMD</li> <li>In-depth examinations of discrete-time controller design, including the approximation to discrete-time transfer function and embedded implementation stability</li> </ul> <p>Perfect for practitioners working in embedded control design and control applications in robotics, <i>Embedded Control for Mobile Robotic Applications</i> will also earn a place in the libraries of academicians, researchers, senior undergraduate students, and graduate students in these fields.