Model abstraction in dynamical systems : application to mobile robot control

Patricia Mellodge, Pushkin Kachroo

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

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書名 Model abstraction in dynamical systems : application to mobile robot control
著作者等 Kachroo, Pushkin
Mellodge Patricia
シリーズ名 Lecture notes in control and information sciences
出版元 Springer
刊行年月 c2008
ページ数 ix, 116 p.
大きさ 24 cm
ISBN 9783540707929
NCID BA87281660
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言語 英語
出版国 ドイツ