Model Abstraction in Dynamical Systems: Application to Mobile Robot ControlThe 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. |
Contents
Introduction | 1 |
Kinematic Modeling and Control 27 | 26 |
Vision Based Modeling and Control | 49 |
Abstraction | 61 |
Control Design | 81 |
7OpenLoopControlDesign | 87 |
Uncertainty Propagation in Abstracted Systems | 97 |
9Conclusion | 113 |
Other editions - View all
Common terms and phrases
abstracted system actual Adapted from 24 applied assumed behavior called camera car’s chapter circle close concept connecting Consider consistency constraints control design control input control systems coordinate curvature curve defined Definition denoted depends derivative described desired determined developed different differential direction distribution Dynamical Systems equivalence errors estimator evolution example exists expression fields flat frame function geometric given gives global ideas implementability important initial conditions integral known linear Liouville equation manifold mapping match matrix method mobile robot move nonholonomic nonlinear original system path plane position provides rank relationship represented respect restrictions resulting rotating shown in Figure shows simulation smooth solution space steering angle tangent vector Theorem traceable tracking trajectory trajectory in Sm transformation turn unicycle unique variables vector field vehicle velocity wheels zero