Open Daily: 10am - 10pm | Alley door pickup 10am - 7pm 3038 Hennepin Ave Minneapolis, MN
612-822-4611

  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Nonlinear Control of Wheeled Mobile Robots

Nonlinear Control of Wheeled Mobile Robots

Dixon, Warren E.
Dawson, Darren M.
Zergeroglu, Erkan

Paperback

Series: Lecture Notes in Control and Information Sciences, Book 262

Medical ReferenceTechnology & Engineering

ISBN10: 1852334142
ISBN13: 9781852334147
Publisher: Springer Nature
Published: Jan 29 2001
Pages: 198
Weight: 0.77
Height: 0.67 Width: 6.15 Depth: 9.26
Language: English
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.

Also in

Technology & Engineering

View All