Model abstraction in dynamical systems: application to mobile robot control
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Berlin [u.a.]
Springer
2008
|
| Schriftenreihe: | Lecture notes in control and information sciences
379 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Literaturverz. S. 113 - 116 |
| Beschreibung: | IX, 116 S. graph. Darst. 235 mm x 155 mm |
| ISBN: | 9783540707929 |
Internformat
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| 100 | 1 | |a Mellodge, Patricia |e Verfasser |0 (DE-588)136246036 |4 aut | |
| 245 | 1 | 0 | |a Model abstraction in dynamical systems |b application to mobile robot control |c Patricia Mellodge ; Pushkin Kachroo |
| 264 | 1 | |a Berlin [u.a.] |b Springer |c 2008 | |
| 300 | |a IX, 116 S. |b graph. Darst. |c 235 mm x 155 mm | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Lecture notes in control and information sciences |v Vol. 379 | |
| 500 | |a Literaturverz. S. 113 - 116 | ||
| 650 | 4 | |a Mobile robots |x Design and construction | |
| 650 | 4 | |a Robots |x Control systems | |
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| 650 | 0 | 7 | |a Bahnplanung |0 (DE-588)4267628-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Dynamisches System |0 (DE-588)4013396-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Mobiler Roboter |0 (DE-588)4191911-7 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Unsicherheit |0 (DE-588)4186957-6 |2 gnd |9 rswk-swf |
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Datensatz im Suchindex
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Contents
1 Introduction 1
1.1 Motivation 1
1.2 Previous Research 2
1.2.1 Modeling 2
1.2.2 Nonholonomic Motion Planning and Control 3
1.2.3 Other Control Approaches 4
1.3 Contributions of This Work 4
1.4 Organization of This Work 4
2 Mathematical Preliminaries 7
2.1 Differential Geometric Description of Systems 7
2.2 Control System Properties 17
2.3 Nonholonomic Systems 20
2.4 Chained Form 24
3 Kinematic Modeling and Control 27
3.1 Modeling Approach 27
3.2 Kinematic Modeling 28
3.2.1 Nonholonomic Contraints 29
3.2.2 Frames of Reference 30
3.2.3 Unicycle Model 30
3.2.4 Global Coordinate Model 31
3.2.5 Path Coordinate Model 32
3.3 Control Design 34
3.3.1 Chained Form 34
3.3.2 Derivation 35
3.4 Curvature Estimation 36
3.5 Estimation Methods 38
3.5.1 Estimation Based on the Steering Angle j 38
3.5.2 Estimation Based on the Vehicle Kinematics 38
3.6 Simulation Results 39
3.6.1 Control Using the Actual Curvature 39
VI Contents
3.6.2 Control Using the j Estimator 41
3.6.3 Control Using the Model Estimator 46
4 Vision Based Modeling and Control 49
4.1 Image Dynamic Modeling 49
4.1.1 Ground Curves 49
4.1.2 Image Dynamics 50
4.2 Unicycle Controller 55
4.3 Simulation Results 56
5 Abstraction 61
5.1 Preliminary Definitions 61
5.2 Consistent Control System Abstractions 67
5.3 Application to the Robotic Car and Unicycle 68
5.4 Traceable Control Systems 70
5.5 Traceability and Differential Flatness 76
6 Control Design 81
6.1 Problem Statement 81
6.2 Existence and Uniqueness of the Input Transformation 81
6.2.1 Special Case 82
6.3 Application to the Car /Unicycle System 84
6.4 Connection with Traceability 85
7 Open-Loop Control Design 87
7.1 Input Transformation 87
7.2 Open-Loop Optimal Control 88
7.3 Simulation 94
8 Uncertainty Propagation in Abstracted Systems 97
8.1 The Liouville Equation and Its Solution 99
8.1.1 Derivation of the Liouville Equation 99
8.1.2 Solution to the Liouville Equation 100
8.2 Definition of the $pdf Mapping 102
8.3 Example of ^-Related Linear Systems 103
8.4 Autonomous ^-Related Systems 105
8.5 The Liouville Equation for Control Systems 106
8.6 ^-Related Control Systems 108
9 Conclusion Ill
Bibliography 113 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Mellodge, Patricia Kachroo, Pushkin 1967- |
| author_GND | (DE-588)136246036 (DE-588)120382962 |
| author_facet | Mellodge, Patricia Kachroo, Pushkin 1967- |
| author_role | aut aut |
| author_sort | Mellodge, Patricia |
| author_variant | p m pm p k pk |
| building | Verbundindex |
| bvnumber | BV035040149 |
| callnumber-first | T - Technology |
| callnumber-label | TJ211 |
| callnumber-raw | TJ211.415 |
| callnumber-search | TJ211.415 |
| callnumber-sort | TJ 3211.415 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | SI 845 |
| ctrlnum | (OCoLC)232976380 (DE-599)DNB989263037 |
| dewey-full | 629.8932011 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932011 |
| dewey-search | 629.8932011 |
| dewey-sort | 3629.8932011 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Mathematik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Maschinenbau / Maschinenwesen Mathematik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| illustrated | Illustrated |
| index_date | 2024-07-02T21:52:55Z |
| indexdate | 2024-07-09T21:20:49Z |
| institution | BVB |
| isbn | 9783540707929 |
| language | English |
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| physical | IX, 116 S. graph. Darst. 235 mm x 155 mm |
| publishDate | 2008 |
| publishDateSearch | 2008 |
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| publisher | Springer |
| record_format | marc |
| series | Lecture notes in control and information sciences |
| series2 | Lecture notes in control and information sciences |
| spelling | Mellodge, Patricia Verfasser (DE-588)136246036 aut Model abstraction in dynamical systems application to mobile robot control Patricia Mellodge ; Pushkin Kachroo Berlin [u.a.] Springer 2008 IX, 116 S. graph. Darst. 235 mm x 155 mm txt rdacontent n rdamedia nc rdacarrier Lecture notes in control and information sciences Vol. 379 Literaturverz. S. 113 - 116 Mobile robots Design and construction Robots Control systems Modellierung (DE-588)4170297-9 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Dynamisches System (DE-588)4013396-5 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Unsicherheit (DE-588)4186957-6 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 s Bahnplanung (DE-588)4267628-9 s Reglerentwurf (DE-588)4177447-4 s Dynamisches System (DE-588)4013396-5 s Unsicherheit (DE-588)4186957-6 s Modellierung (DE-588)4170297-9 s DE-604 Kachroo, Pushkin 1967- Verfasser (DE-588)120382962 aut Erscheint auch als Online-Ausgabe 978-3-540-70799-8 Lecture notes in control and information sciences 379 (DE-604)BV005848579 379 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016708989&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Mellodge, Patricia Kachroo, Pushkin 1967- Model abstraction in dynamical systems application to mobile robot control Lecture notes in control and information sciences Mobile robots Design and construction Robots Control systems Modellierung (DE-588)4170297-9 gnd Reglerentwurf (DE-588)4177447-4 gnd Bahnplanung (DE-588)4267628-9 gnd Dynamisches System (DE-588)4013396-5 gnd Mobiler Roboter (DE-588)4191911-7 gnd Unsicherheit (DE-588)4186957-6 gnd |
| subject_GND | (DE-588)4170297-9 (DE-588)4177447-4 (DE-588)4267628-9 (DE-588)4013396-5 (DE-588)4191911-7 (DE-588)4186957-6 |
| title | Model abstraction in dynamical systems application to mobile robot control |
| title_auth | Model abstraction in dynamical systems application to mobile robot control |
| title_exact_search | Model abstraction in dynamical systems application to mobile robot control |
| title_exact_search_txtP | Model abstraction in dynamical systems application to mobile robot control |
| title_full | Model abstraction in dynamical systems application to mobile robot control Patricia Mellodge ; Pushkin Kachroo |
| title_fullStr | Model abstraction in dynamical systems application to mobile robot control Patricia Mellodge ; Pushkin Kachroo |
| title_full_unstemmed | Model abstraction in dynamical systems application to mobile robot control Patricia Mellodge ; Pushkin Kachroo |
| title_short | Model abstraction in dynamical systems |
| title_sort | model abstraction in dynamical systems application to mobile robot control |
| title_sub | application to mobile robot control |
| topic | Mobile robots Design and construction Robots Control systems Modellierung (DE-588)4170297-9 gnd Reglerentwurf (DE-588)4177447-4 gnd Bahnplanung (DE-588)4267628-9 gnd Dynamisches System (DE-588)4013396-5 gnd Mobiler Roboter (DE-588)4191911-7 gnd Unsicherheit (DE-588)4186957-6 gnd |
| topic_facet | Mobile robots Design and construction Robots Control systems Modellierung Reglerentwurf Bahnplanung Dynamisches System Mobiler Roboter Unsicherheit |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016708989&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV005848579 |
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