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Nonlinear Control of Wheeled Mobile Robots : Lecture Notes in Control and Information Science - Warren E. Dixon

Nonlinear Control of Wheeled Mobile Robots

Lecture Notes in Control and Information Science

Paperback Published: February 2001
ISBN: 9781852334147
Number Of Pages: 198

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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.

Preface
Model Development and Control Objectivesp. 1
Robust Controlp. 33
Adaptive Controlp. 49
Output Feedback Controlp. 71
Vision Based Controlp. 85
Robustness to Kinematic Disturbancesp. 113
Beyond Wheeled Mobile Robotsp. 131
Mathematical Backgroundp. 151
Auxiliary Expressions and Proofsp. 159
Modifications to the Cybermotion K2Ap. 171
Modifications to the ActivMedia Pioneer IIp. 183
Indexp. 194
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9781852334147
ISBN-10: 1852334142
Series: Lecture Notes in Control and Information Science
Audience: General
Format: Paperback
Language: English
Number Of Pages: 198
Published: February 2001
Publisher: Springer London Ltd
Country of Publication: GB
Dimensions (cm): 23.52 x 15.62  x 1.7
Weight (kg): 0.35