Model Abstraction in Dynamical Systems: Application to Mobile Robot Control

Erscheinungsjahr 2008
ISBN: 978-3-540-70792-9
Verlag: Springer

Buch, Englisch, Band 379, 118 Seiten, Format (B × H): 155 mm x 235 mm, Gewicht: 450 g

Reihe: Lecture Notes in Control and Information Sciences

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.

Zielgruppe

Research

Autoren/Hrsg.

Mellodge, Patricia

Kachroo, Pushkin

Fachgebiete

• Mathematik | Informatik Mathematik Mathematische Analysis Variationsrechnung
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Überwachungstechnik
• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz Wissensbasierte Systeme, Expertensysteme
• Mathematik | Informatik Mathematik Numerik und Wissenschaftliches Rechnen Computeranwendungen in der Mathematik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Mathematik | Informatik Mathematik Numerik und Wissenschaftliches Rechnen Angewandte Mathematik, Mathematische Modelle

Inhaltsverzeichnis

Mathematical Preliminaries.- Kinematic Modeling and Control.- Vision Based Modeling and Control.- Abstraction.- Control Design.- Open-Loop Control Design.- Uncertainty Propagation in Abstracted Systems.- Conclusion.