Lecture Notes in Control and Information Sciences

Nonlinear Control of Wheeled Mobile Robots

Authors: Dixon, W.E., Dawson, D.M., Zergeroglu, E., Behal, A.

Buy this book

eBook $129.00
price for USA (gross)
  • ISBN 978-1-84628-574-5
  • Digitally watermarked, DRM-free
  • Included format:
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover $169.00
price for USA
  • ISBN 978-1-85233-414-7
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
About this book

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.

Table of contents (7 chapters)

Buy this book

eBook $129.00
price for USA (gross)
  • ISBN 978-1-84628-574-5
  • Digitally watermarked, DRM-free
  • Included format:
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover $169.00
price for USA
  • ISBN 978-1-85233-414-7
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Loading...

Recommended for you

Loading...

Bibliographic Information

Bibliographic Information
Book Title
Nonlinear Control of Wheeled Mobile Robots
Authors
Series Title
Lecture Notes in Control and Information Sciences
Series Volume
262
Copyright
2001
Publisher
Springer-Verlag London
Copyright Holder
Springer-Verlag London
eBook ISBN
978-1-84628-574-5
DOI
10.1007/BFb0113116
Softcover ISBN
978-1-85233-414-7
Series ISSN
0170-8643
Edition Number
1
Number of Pages
XV, 198
Topics