Model Abstraction In Dynamical Systems Application To Mobile Robot Control
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Model Abstraction In Dynamical Systems Application To Mobile Robot Control
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Author : Patricia Mellodge
language : en
Publisher: Springer
Release Date : 2008-09-18
Model Abstraction In Dynamical Systems Application To Mobile Robot Control written by Patricia Mellodge and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-09-18 with Technology & Engineering categories.
The subject of this book is model abstraction of dynamical systems. The p- mary goal of the work embodied in this book is to design a controller for the mobile robotic car using abstraction. Abstraction provides a means to rep- sent the dynamics of a system using a simpler model while retaining important characteristics of the original system. A second goal of this work is to study the propagation of uncertain initial conditions in the framework of abstraction. The summation of this work is presented in this book. It includes the following: • An overview of the history and current research in mobile robotic control design. • A mathematical review that provides the tools used in this research area. • The development of the robotic car model and both controllers used in the new control design. • A review of abstraction and an extension of these ideas into new system relationship characterizations called traceability and -traceability. • A framework for designing controllers based on abstraction. • An open-loop control design with simulation results. • An investigation of system abstraction with uncertain initial conditions.
Model Abstraction In Dynamical Systems Application To Mobile Robot Control
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Author : Patricia Mellodge
language : en
Publisher: Springer
Release Date : 2009-08-29
Model Abstraction In Dynamical Systems Application To Mobile Robot Control written by Patricia Mellodge and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-08-29 with Technology & Engineering categories.
The subject of this book is model abstraction of dynamical systems. The p- mary goal of the work embodied in this book is to design a controller for the mobile robotic car using abstraction. Abstraction provides a means to rep- sent the dynamics of a system using a simpler model while retaining important characteristics of the original system. A second goal of this work is to study the propagation of uncertain initial conditions in the framework of abstraction. The summation of this work is presented in this book. It includes the following: • An overview of the history and current research in mobile robotic control design. • A mathematical review that provides the tools used in this research area. • The development of the robotic car model and both controllers used in the new control design. • A review of abstraction and an extension of these ideas into new system relationship characterizations called traceability and -traceability. • A framework for designing controllers based on abstraction. • An open-loop control design with simulation results. • An investigation of system abstraction with uncertain initial conditions.
Distributed Decision Making And Control
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Author : Rolf Johansson
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-10-26
Distributed Decision Making And Control written by Rolf Johansson and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-10-26 with Technology & Engineering categories.
Distributed Decision Making and Control is a mathematical treatment of relevant problems in distributed control, decision and multiagent systems, The research reported was prompted by the recent rapid development in large-scale networked and embedded systems and communications. One of the main reasons for the growing complexity in such systems is the dynamics introduced by computation and communication delays. Reliability, predictability, and efficient utilization of processing power and network resources are central issues and the new theory and design methods presented here are needed to analyze and optimize the complex interactions that arise between controllers, plants and networks. The text also helps to meet requirements arising from industrial practice for a more systematic approach to the design of distributed control structures and corresponding information interfaces Theory for coordination of many different control units is closely related to economics and game theory network uses being dictated by congestion-based pricing of a given pathway. The text extends existing methods which represent pricing mechanisms as Lagrange multipliers to distributed optimization in a dynamic setting. In Distributed Decision Making and Control, the main theme is distributed decision making and control with contributions to a general theory and methodology for control of complex engineering systems in engineering, economics and logistics. This includes scalable methods and tools for modeling, analysis and control synthesis, as well as reliable implementations using networked embedded systems. Academic researchers and graduate students in control science, system theory, and mathematical economics and logistics will find mcu to interest them in this collection, first presented orally by the contributors during a sequence of workshops organized in Spring 2010 by the Lund Center for Control of Complex Engineering Systems, a Linnaeus Center at Lund University, Sweden.>
Identification For Automotive Systems
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Author : Daniel Alberer
language : en
Publisher: Springer
Release Date : 2011-12-04
Identification For Automotive Systems written by Daniel Alberer and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-12-04 with Technology & Engineering categories.
Increasing complexity and performance and reliability expectations make modeling of automotive system both more difficult and more urgent. Automotive control has slowly evolved from an add-on to classical engine and vehicle design to a key technology to enforce consumption, pollution and safety limits. Modeling, however, is still mainly based on classical methods, even though much progress has been done in the identification community to speed it up and improve it. This book, the product of a workshop of representatives of different communities, offers an insight on how to close the gap and exploit this progress for the next generations of vehicles.
Homogeneous Polynomial Forms For Robustness Analysis Of Uncertain Systems
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Author : Graziano Chesi
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-07-13
Homogeneous Polynomial Forms For Robustness Analysis Of Uncertain Systems written by Graziano Chesi and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-07-13 with Technology & Engineering categories.
This book presents a number of techniques for robustness analysis of uncertain systems. In it, convex relaxations for several robustness problems are derived by exploiting and providing new results on the theory of homogenous polynomial forms.
Optimization And Cooperative Control Strategies
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Author : Michael Hirsch
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-01-17
Optimization And Cooperative Control Strategies written by Michael Hirsch and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-01-17 with Technology & Engineering categories.
Cooperative, collaborating autonomous systems are at the forefront of research efforts in numerous disciplines across the applied sciences. There is constant progress in solution techniques for these systems. However, despite this progress, cooperating systems have continued to be extremely difficult to model, analyze, and solve. Theoretical results are very difficult to come by. Each year, the International Conference on Cooperative Control and Optimization (CCO) brings together top researchers from around the world to present new, cutting-edge, ideas, theories, applications, and advances in the fields of autonomous agents, cooperative systems, control theory, information flow, and optimization. The works in this volume are a result of invited papers and selected presentations at the Eighth Annual International Conference on Cooperative Control and Optimization, held in Gainesville, Florida, January 30 – February 1, 2008.
The Joint Spectral Radius
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Author : Raphaël Jungers
language : en
Publisher: Springer
Release Date : 2009-05-15
The Joint Spectral Radius written by Raphaël Jungers and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-05-15 with Technology & Engineering categories.
This monograph is based on the Ph.D. Thesis of the author [58]. Its goal is twofold: First, it presents most researchwork that has been done during his Ph.D., or at least the part of the work that is related with the joint spectral radius. This work was concerned with theoretical developments (part I) as well as the study of some applications (part II). As a second goal, it was the author’s feeling that a survey on the state of the art on the joint spectral radius was really missing in the literature, so that the ?rst two chapters of part I present such a survey. The other chapters mainly report personal research, except Chapter 5 which presents animportantapplicationofthejointspectralradius:thecontinuityofwavelet functions. The ?rst part of this monograph is dedicated to theoretical results. The ?rst two chapters present the above mentioned survey on the joint spectral radius. Its minimum-growth counterpart, the joint spectral subradius, is also considered. The next two chapters point out two speci?c theoretical topics, that are important in practical applications: the particular case of nonne- tive matrices, and the Finiteness Property. The second part considers applications involving the joint spectral radius.
Time Varying Sliding Modes For Second And Third Order Systems
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Author : Andrzej Bartoszewicz
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-04-03
Time Varying Sliding Modes For Second And Third Order Systems written by Andrzej Bartoszewicz and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-04-03 with Technology & Engineering categories.
A principal objective of control engineering is to design control systems which are robust with respect to external disturbances and modelling uncertainty. This objective may be well achieved using the sliding mode technique - which is the main subject of this monograph. More precisely, “Time-Varying Sliding Modes for Second and Third Order Systems” focuses on only one, but very important aspect of the sliding mode system design, i.e. the problem of the sliding plane selection. In this self-contained monograph, the main notions and concepts used in the field of variable structure systems and sliding mode control are presented before in the main part the issue of the switching surface design is discussed. This is done by considering two standard plants, which are very often encountered in the control engineering practice: the second and the third order nonlinear and possibly time-varying systems.
Control Configuration Selection For Multivariable Plants
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Author : A. Khaki-Sedigh
language : en
Publisher: Springer
Release Date : 2009-09-29
Control Configuration Selection For Multivariable Plants written by A. Khaki-Sedigh and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-09-29 with Technology & Engineering categories.
Control of multivariable industrial plants and processes has been a challenging and fascinating task for researchers in this field. The analysis and design methodologies for multivariable plants can be categorized as centralized and decentralized design strategies. Despite the remarkable theoretical achievements in centralized multiva- able control, decentralized control is still widely used in many industrial plants. This trend in the beginning of the third millennium is still there and it will be with us for the foreseeable future. This is mainly because of the easy implementation, main- nance, tuning, and robust behavior in the face of fault and model uncertainties, which is reported with the vast number of running decentralized controllers in the industry. The main steps involved in employing decentralized controllers can be summarized as follows: • Control objectives formulation and plant modeling. • Control structure selection. • Controller design. • Simulation or pilot plant experiments and Implementation. Nearly all the textbooks on multivariable control theory deal only with the control system analysis and design. The important concept of control structure selection which is a key prerequisite for a successful industrial control strategy is almost unnoticed. Structure selection involves the following two main steps: • Inputs and outputs selection. • Control configuration selection or the input-output pairing problem. This book focuses on control configuration selection or the input-output pairing problem, which is defined as the procedure of selecting the appropriate input and output pair for the design of SISO (or block) controllers.
Sliding Mode Control Using Novel Sliding Surfaces
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Author : B. Bandyopadhyay
language : en
Publisher: Springer
Release Date : 2009-10-14
Sliding Mode Control Using Novel Sliding Surfaces written by B. Bandyopadhyay and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-10-14 with Technology & Engineering categories.
AfterasurveypaperbyUtkininthelate1970s,slidingmodecontrolmeth- ologies emerged as an e?ective tool to tackle uncertainty and disturbances which are inevitable in most of the practical systems. Sliding mode control is a particular class of variable structure control which was introduced by Emel’yanov and his colleagues. The design paradigms of sliding mode c- trol has now become a mature design technique for the design of robust c- troller of uncertain system. In sliding mode technique, the state trajectory of the system is constrained on a chosen manifold (or within some neighb- hood thereof) by an appropriatecontrolaction. This manifold is also called a switching surface or a sliding surface. During sliding mode, system dynamics is governed by the chosen manifold which results in a well celebrated inva- ance property towards certain classes of disturbance and model mismatches. The purpose of this monograph is to give a di?erent dimension to sl- ing surface design to achieve high performance of the system. Design of the switching surface is vital because the closed loop dynamics is governed by the parameters of the sliding surface. Therefore sliding surface should be - signed to meet the closed loop speci?cations. Many systems demand high performance with robustness. To address this issue of achieving high perf- mance with robustness, we propose nonlinear surfaces for di?erent classes of systems. The nonlinear surface is designed such that it changes the system’s closed-loop damping ratio from its initial low value to a ?nal high value.