Nonlinear Control of Wheeled Mobile Robots / Edition 1

by Warren E. Dixon, Darren M. Dawson, Erkan Zergeroglu, Aman Behal

Overview

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.

Product Details

ISBN-13:	9781852334147
Publisher:	Springer London
Publication date:	02/23/2001
Series:	Lecture Notes in Control and Information Sciences , #262
Edition description:	2001
Pages:	198
Product dimensions:	6.10(w) x 9.25(h) x 0.36(d)

Table of Contents

Model development and control objectives.- Robust control.- Adaptive control.- Output feedback control.- Vision based control.- Robustness to kinematic disturbances.- Beyond wheeled mobile robots.