Model Abstraction in Dynamical Systems: Application to Mobile Robot Control

This book investigates abstraction of dynamical systems for the purpose of designing controllers. It is a comprehensive review of the theory behind abstraction, and it applies the results to general nonlinear dynamic systems.

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.

Presents how to design a controller for the mobile robotic car using abstraction Presents an overview of the history and current research in mobile robotic control design

Zusammenfassung

From the reviews: "The main purpose of this book is to investigate the model abstraction of dynamical systems. The abstraction concept is used to represent a system by a simpler model that captures the important behaviour features of the original system. The authors follow two important objectives within the book. The primary goal is to design a controller for the mobile robotic car using the abstraction modelling. The second goal of this work is to study the propagation of uncertain initial conditions in the theoretical framework of abstraction." (Silvia Curteanu, Zentralblatt MATH, Vol. 1180, 2010)

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