Nonlinear Control of Wheeled Mobile Robots

2001. Auflage 2001
ISBN: 978-1-85233-414-7
Verlag: Springer

Buch, Englisch, Band 262, 198 Seiten, Format (B × H): 156 mm x 239 mm, Gewicht: 335 g

Reihe: Lecture Notes in Control and Information Sciences

This book examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined utilizing Lyapunov techniques. The performance of each controller is either illustrated through simulation results or experimental results. The final chapter describes how the control techniques developed for wheeled mobile robots can be applied to solve other problems with similar governing differential equations (e.g., twin rotor helicopters, surface vessels). Several appendices are included to provide the reader with the mathematical background utilized in the control development and stability analysis. Two appendices are also included that provide specific details with regard to the modifications that were done to commercially available mobile robots (e.g., a K2A manufactured by Cybermotion Inc. and a Pioneer II manufactured by Activemedia) to experimentally demonstrate the performance of the torque input controllers.

Zielgruppe

Research

Autoren/Hrsg.

Dixon, Warren E

Dawson, Darren M

Zergeroglu, Erkan

Behal, Aman

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Mathematik | Informatik Mathematik Numerik und Wissenschaftliches Rechnen Numerische Mathematik

Inhaltsverzeichnis

Model development and control objectives.- Robust control.- Adaptive control.- Output feedback control.- Vision based control.- Robustness to kinematic disturbances.- Beyond wheeled mobile robots.