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Nonlinear Control of Wheeled Mobile Robots

Warren E. Dixon

0/5 ( ratings)

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 . 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 to experimentally demonstrate the performance of the torque input controllers.

Language: English

Pages: 198

Format: Paperback

Publisher: Springer

Release: January 29, 2001

ISBN: 1852334142

ISBN 13: 9781852334147

Nonlinear Control of Wheeled Mobile Robots

Warren E. Dixon

0/5 ( ratings)

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 . 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 to experimentally demonstrate the performance of the torque input controllers.

Language: English

Pages: 198

Format: Paperback

Publisher: Springer

Release: January 29, 2001

ISBN: 1852334142

ISBN 13: 9781852334147

More books from Warren E. Dixon

Reinforcement Learning for Optimal Feedback Control: A Lyapunov-Based Approach (Communications and Control Engineering)

Lyapunov-Based Control of Robotic Systems

Nonlinear Control of Engineering Systems: A Lyapunov-Based Approach

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