Embedded Control for Mobile Robotic Applications
Leena Vachhani, Indian Institute of Technology Bombay;
Pranjal Vyas, Agency of Science, Technology and Research;
Arunkumar G. K., Indian Institute of Technology Bombay
Wiley-IEEE Press, 2022
ISBN: 9781119812388;
Language: English
In Embedded Control for Mobile Robotic Applications, a distinguished trio of researchers delivers a 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.
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 design
- Comprehensive explorations of the bottom-up and top-down methods, including computations using CORDIC, interval arithmetic, sliding surface design, and switched nonlinear systems
- Practical discussions of generic FPGA architecture design, including Verilog, PID controllers, DC motors and Encoder, and a systematic approach for designing architecture using FSMD
- In-depth examinations of discrete-time controller design, including the approximation to discrete-time transfer function and embedded implementation stability
