Nonlinear Control of Wheeled Mobile Robots:
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...
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| Main Authors: | , , , |
|---|---|
| Format: | Electronic eBook |
| Language: | English |
| Published: |
London
Springer London
2001
|
| Series: | Lecture Notes in Control and Information Sciences
262 |
| Subjects: | |
| Online Access: | FHI01 BTU01 Volltext |
| Summary: | 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 |
| Physical Description: | 1 Online-Ressource (XV, 198 p) |
| ISBN: | 9781846285745 |
| DOI: | 10.1007/BFb0113116 |
Staff View
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| author | Dixon, Warren Dawson, Darren M. Zergeroglu, Erkan Behal, Aman |
| author_facet | Dixon, Warren Dawson, Darren M. Zergeroglu, Erkan Behal, Aman |
| author_role | aut aut aut aut |
| author_sort | Dixon, Warren |
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| building | Verbundindex |
| bvnumber | BV045149095 |
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| ctrlnum | (ZDB-2-ENG)978-1-84628-574-5 (OCoLC)850027988 (DE-599)BVBBV045149095 |
| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mathematik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/BFb0113116 |
| format | Electronic eBook |
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| id | DE-604.BV045149095 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-10T08:10:02Z |
| institution | BVB |
| isbn | 9781846285745 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-030538794 |
| oclc_num | 850027988 |
| open_access_boolean | |
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| owner_facet | DE-573 DE-634 |
| physical | 1 Online-Ressource (XV, 198 p) |
| psigel | ZDB-2-ENG ZDB-2-ENG_2000/2004 ZDB-2-ENG ZDB-2-ENG_2000/2004 ZDB-2-ENG ZDB-2-ENG_Archiv |
| publishDate | 2001 |
| publishDateSearch | 2001 |
| publishDateSort | 2001 |
| publisher | Springer London |
| record_format | marc |
| series2 | Lecture Notes in Control and Information Sciences |
| spelling | Dixon, Warren Verfasser aut Nonlinear Control of Wheeled Mobile Robots by Warren Dixon, Darren M. Dawson, Erkan Zergeroglu, Aman Behal London Springer London 2001 1 Online-Ressource (XV, 198 p) txt rdacontent c rdamedia cr rdacarrier Lecture Notes in Control and Information Sciences 262 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 Engineering Robotics and Automation Control, Robotics, Mechatronics Control engineering Robotics Mechatronics Automation Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 s Nichtlineare Kontrolltheorie (DE-588)4475218-0 s 1\p DE-604 Dawson, Darren M. aut Zergeroglu, Erkan aut Behal, Aman aut Erscheint auch als Druck-Ausgabe 9781852334147 https://doi.org/10.1007/BFb0113116 Verlag URL des Erstveröffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Dixon, Warren Dawson, Darren M. Zergeroglu, Erkan Behal, Aman Nonlinear Control of Wheeled Mobile Robots Engineering Robotics and Automation Control, Robotics, Mechatronics Control engineering Robotics Mechatronics Automation Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| subject_GND | (DE-588)4475218-0 (DE-588)4191911-7 |
| title | Nonlinear Control of Wheeled Mobile Robots |
| title_auth | Nonlinear Control of Wheeled Mobile Robots |
| title_exact_search | Nonlinear Control of Wheeled Mobile Robots |
| title_full | Nonlinear Control of Wheeled Mobile Robots by Warren Dixon, Darren M. Dawson, Erkan Zergeroglu, Aman Behal |
| title_fullStr | Nonlinear Control of Wheeled Mobile Robots by Warren Dixon, Darren M. Dawson, Erkan Zergeroglu, Aman Behal |
| title_full_unstemmed | Nonlinear Control of Wheeled Mobile Robots by Warren Dixon, Darren M. Dawson, Erkan Zergeroglu, Aman Behal |
| title_short | Nonlinear Control of Wheeled Mobile Robots |
| title_sort | nonlinear control of wheeled mobile robots |
| topic | Engineering Robotics and Automation Control, Robotics, Mechatronics Control engineering Robotics Mechatronics Automation Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| topic_facet | Engineering Robotics and Automation Control, Robotics, Mechatronics Control engineering Robotics Mechatronics Automation Nichtlineare Kontrolltheorie Mobiler Roboter |
| url | https://doi.org/10.1007/BFb0113116 |
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