Nonlinear Control Of Wheeled Mobile Robots
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Nonlinear Control of Wheeled Mobile Robots
Author | : Warren E. Dixon |
Publsiher | : Unknown |
Total Pages | : 224 |
Release | : 2001-01-29 |
Genre | : Medical |
ISBN | : UOM:39015050725418 |
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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.
Nonlinear Control of Wheeled Mobile Robots
Author | : Warren E. Dixon,Darren M. Dawson,Erkan Zergeroglu,Aman Behal |
Publsiher | : Springer |
Total Pages | : 198 |
Release | : 2014-03-12 |
Genre | : Technology & Engineering |
ISBN | : 1447139607 |
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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.
Modern Robotics
Author | : Kevin M. Lynch,Frank C. Park |
Publsiher | : Cambridge University Press |
Total Pages | : 545 |
Release | : 2017-05-25 |
Genre | : Computers |
ISBN | : 9781107156302 |
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A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
RAMSETE
Author | : Salvatore Nicosia,Bruno Siciliano,Antonio Bicchi,Paolo Valigi |
Publsiher | : Springer |
Total Pages | : 273 |
Release | : 2003-07-01 |
Genre | : Technology & Engineering |
ISBN | : 9783540450009 |
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Robotics applications, initially developed for industrial and manufacturing contexts, are now strongly present in several elds. Besides well-known space and high-technology applications, robotics for every day life and medical s- vices is becoming more and more popular. As an example, robotic manipu- tors are particularly useful in surgery and radiation treatments, they could be employed for civil demining, for helping disabled people, and ultimately for domestic tasks, entertainment and education. Such a kind of robotic app- cations require the integration of many di erent skills. Autonomous vehicles and mobile robots in general must be integrated with articulated manipu- tors. Many robotic technologies (sensors, actuators and computing systems) must be properly used with speci c technologies (localisation, planning and control technologies). The task of designing robots for these applications is a hard challenge: a speci c competence in each area is demanded, in the e ort of a truly integrated multidisciplinary design.
Introduction to Mobile Robot Control
Author | : Spyros G Tzafestas |
Publsiher | : Elsevier |
Total Pages | : 718 |
Release | : 2013-10-03 |
Genre | : Technology & Engineering |
ISBN | : 9780124171039 |
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Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background
Wheeled Mobile Robotics
Author | : Gregor Klancar,Andrej Zdesar,Saso Blazic,Igor Skrjanc |
Publsiher | : Butterworth-Heinemann |
Total Pages | : 502 |
Release | : 2017-02-02 |
Genre | : Computers |
ISBN | : 9780128042380 |
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Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLABĀ® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners Includes several examples of the application of algorithms in simulations and real laboratory projects Presents foundation in mobile robotics theory before continuing with more advanced topics Self-sufficient to beginner readers, covering all important topics in the mobile robotics field Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems
Chaos Control
Author | : Guanrong Chen,Xinghuo Yu |
Publsiher | : Springer Science & Business Media |
Total Pages | : 392 |
Release | : 2003-07-25 |
Genre | : Technology & Engineering |
ISBN | : 3540404058 |
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Chaos control refers to purposefully manipulating chaotic dynamical behaviors of some complex nonlinear systems. There exists no similar control theory-oriented book available in the market that is devoted to the subject of chaos control, written by control engineers for control engineers. World-renowned leading experts in the field provide their state-of-the-art survey about the extensive research that has been done over the last few years in this subject. The new technology of chaos control has major impact on novel engineering applications such as telecommunications, power systems, liquid mixing, internet technology, high-performance circuits and devices, biological systems modeling like the brain and the heart, and decision making. The book is not only aimed at active researchers in the field of chaos control involving control and systems engineers, theoretical and experimental physicists, and applied mathematicians, but also at a general audience in related fields.
Robot Motion and Control
Author | : Krzysztof R. Kozlowski |
Publsiher | : Springer |
Total Pages | : 401 |
Release | : 2006-07-26 |
Genre | : Technology & Engineering |
ISBN | : 9781846284052 |
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This book presents recent results in robot motion and control. Twenty papers presented at the Fourth International Workshop on Robot Motion and Control held in 2004 have been expanded. The authors of these papers were carefully selected and represent leading institutions in this field. The book covers nonlinear control of nonholonomic systems and legged robots as well as trajectory planning for these systems, topics not covered in previous books.