Model Abstraction in Dynamical Systems: Application to Mobile Robot Control

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 impo...

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Bibliographic Details
Main Authors: Mellodge, Patricia, Kachroo, Pushkin (Author)
Format: eBook
Language:English
Published: Berlin, Heidelberg Springer Berlin Heidelberg 2008, 2008
Edition:1st ed. 2008
Series:Lecture Notes in Control and Information Sciences
Subjects:
Online Access:
Collection: Springer eBooks 2005- - Collection details see MPG.ReNa
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505 0 |a Mathematical Preliminaries -- Kinematic Modeling and Control -- Vision Based Modeling and Control -- Abstraction -- Control Design -- Open-Loop Control Design -- Uncertainty Propagation in Abstracted Systems -- Conclusion 
653 |a Mechanics, Applied 
653 |a Control, Robotics, Automation 
653 |a Artificial Intelligence 
653 |a Control and Systems Theory 
653 |a Control theory 
653 |a Systems Theory, Control 
653 |a Multibody Systems and Mechanical Vibrations 
653 |a System theory 
653 |a Vibration 
653 |a Control engineering 
653 |a Artificial intelligence 
653 |a Robotics 
653 |a Applications of Mathematics 
653 |a Multibody systems 
653 |a Mathematics 
653 |a Automation 
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520 |a 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