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Model Abstraction in Dynamical Systems: Application to Mobile Robot Control [electronic resource] /by Patricia Mellodge, Pushkin Kachroo.

by Mellodge, Patricia [author.]; Kachroo, Pushkin [author.]; SpringerLink (Online service).

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BookSeries: Lecture Notes in Control and Information Sciences: 379Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg, 2008.Description: online resource.ISBN: 9783540707998.Subject(s): Engineering | Artificial intelligence | Systems theory | Vibration | Engineering | Control Engineering | Automation and Robotics | Vibration, Dynamical Systems, Control | Artificial Intelligence (incl. Robotics) | Systems Theory, ControlOnline resources: Click here to access online

Contents:

Mathematical Preliminaries -- Kinematic Modeling and Control -- Vision Based Modeling and Control -- Abstraction -- Control Design -- Open-Loop Control Design -- Uncertainty Propagation in Abstracted Systems -- Conclusion.

In: Springer eBooksSummary: This book investigates abstraction of dynamical systems for the purpose of designing controllers. Abstraction is a means to reduce a system model's complexity while retaining the important behavior of that system. The motivating example throughout this text is the robotic car. Two topics are introduced in this text: control design using abstraction and propagation of uncertainty in abstracted systems. First, this book investigates the conditions for which controllers can be designed in abstracted systems and then transferred to the original dynamical system, taking advantage of design using the simpler model. This book also studies the relationship between the evolution of uncertain initial conditions in abstracted control systems. It is shown that a control system abstraction can capture the time evolution of the uncertainty in the original system by an appropriate choice of control input.

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This book investigates abstraction of dynamical systems for the purpose of designing controllers. Abstraction is a means to reduce a system model's complexity while retaining the important behavior of that system. The motivating example throughout this text is the robotic car. Two topics are introduced in this text: control design using abstraction and propagation of uncertainty in abstracted systems. First, this book investigates the conditions for which controllers can be designed in abstracted systems and then transferred to the original dynamical system, taking advantage of design using the simpler model. This book also studies the relationship between the evolution of uncertain initial conditions in abstracted control systems. It is shown that a control system abstraction can capture the time evolution of the uncertainty in the original system by an appropriate choice of control input.

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Model Abstraction in Dynamical Systems: Application to Mobile Robot Control [electronic resource] /by Patricia Mellodge, Pushkin Kachroo.

by Mellodge, Patricia [author.]; Kachroo, Pushkin [author.]; SpringerLink (Online service).

Browsing MAIN LIBRARY Shelves Close shelf browser