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Model Abstraction in Dynamical Systems: Application to Mobile Robot Control

  • Book
  • © 2008

Overview

Authors:
  1. Patricia Mellodge
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  2. Pushkin Kachroo
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  • Presents how to design a controller for the mobile robotic car using abstraction
  • Presents an overview of the history and current research in mobile robotic control design

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS)

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Table of contents (9 chapters)

  1. Front Matter

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  2. Introduction

    • Patricia Mellodge, Pushkin Kachroo
    Pages 1-5

  3. Mathematical Preliminaries

    • Patricia Mellodge, Pushkin Kachroo
    Pages 7-25

  4. Kinematic Modeling and Control

    • Patricia Mellodge, Pushkin Kachroo
    Pages 27-48

  5. Vision Based Modeling and Control

    • Patricia Mellodge, Pushkin Kachroo
    Pages 49-59

  6. Abstraction

    • Patricia Mellodge, Pushkin Kachroo
    Pages 61-80

  7. Control Design

    • Patricia Mellodge, Pushkin Kachroo
    Pages 81-86

  8. Open-Loop Control Design

    • Patricia Mellodge, Pushkin Kachroo
    Pages 87-96

  9. Uncertainty Propagation in Abstracted Systems

    • Patricia Mellodge, Pushkin Kachroo
    Pages 97-110

  10. Conclusion

    • Patricia Mellodge, Pushkin Kachroo
    Pages 111-112

  11. Back Matter

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Keywords

About this book

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.

Reviews

From the reviews:

“The main purpose of this book is to investigate the model abstraction of dynamical systems. The abstraction concept is used to represent a system by a simpler model that captures the important behaviour features of the original system. The authors follow two important objectives within the book. The primary goal is to design a controller for the mobile robotic car using the abstraction modelling. The second goal of this work is to study the propagation of uncertain initial conditions in the theoretical framework of abstraction.” (Silvia Curteanu, Zentralblatt MATH, Vol. 1180, 2010)

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