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Model Abstraction in Dynamical Systems: Application to Mobile Robot Control

  • Authors
  • Patricia Mellodge
  • Pushkin Kachroo

Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 379)

Table of contents

  1. Front Matter
  2. Patricia Mellodge, Pushkin Kachroo
    Pages 1-5
  3. Patricia Mellodge, Pushkin Kachroo
    Pages 7-25
  4. Patricia Mellodge, Pushkin Kachroo
    Pages 27-48
  5. Patricia Mellodge, Pushkin Kachroo
    Pages 49-59
  6. Patricia Mellodge, Pushkin Kachroo
    Pages 61-80
  7. Patricia Mellodge, Pushkin Kachroo
    Pages 81-86
  8. Patricia Mellodge, Pushkin Kachroo
    Pages 87-96
  9. Patricia Mellodge, Pushkin Kachroo
    Pages 97-110
  10. Patricia Mellodge, Pushkin Kachroo
    Pages 111-112
  11. Back Matter

About this book

Introduction

The subject of this book is model abstraction of dynamical systems. The p- mary goal of the work embodied in this book is to design a controller for the mobile robotic car using abstraction. Abstraction provides a means to rep- sent the dynamics of a system using a simpler model while retaining important characteristics of the original system. A second goal of this work is to study the propagation of uncertain initial conditions in the framework of abstraction. The summation of this work is presented in this book. It includes the following: • An overview of the history and current research in mobile robotic control design. • A mathematical review that provides the tools used in this research area. • The development of the robotic car model and both controllers used in the new control design. • A review of abstraction and an extension of these ideas into new system relationship characterizations called traceability and -traceability. • A framework for designing controllers based on abstraction. • An open-loop control design with simulation results. • An investigation of system abstraction with uncertain initial conditions.

Keywords

Abstraction Control Theory Feedback Control Mobile Robots Nonholonomic Systems Traceability complexity mobile robot robot uncertainty

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-540-70799-8
  • Copyright Information Springer-Verlag Berlin Heidelberg 2008
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-540-70792-9
  • Online ISBN 978-3-540-70799-8
  • Series Print ISSN 0170-8643
  • Series Online ISSN 1610-7411
  • Buy this book on publisher's site