Model Abstraction in Dynamical Systems: Application to Mobile Robot Control
Sep 2008 · Springer
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118
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About this ebook
The 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.
The 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 i...
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About the author
Pushkin Kachroo obtained his Ph.D. in mechanical engineering from the University of California, Berkeley. Kachroo is an assistant professor at Virginia Tech. He is a research engineer at the robotics R&D laboratory at Lincoln Electric Company and a Research Scientist at the Center for Transportation research. Dr.Kachroo has also served as the principal and co-principal investigator of several ITS projects.
Pushkin Kachroo obtained his Ph.D. in mechanical engineering from the University of California, Berkeley. Kachroo is an assistant professor at Virginia Tech. He is a research engineer at the robotics R&D laboratory at Lincoln Electric Company and a Research Scientist at the Center for Transportat...
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