000			03461nam a22006135i 4500
001			978-3-540-70799-8
003			DE-He213
005			20161121230542.0
007			cr nn 008mamaa
008			100301s2008 gw | s |||| 0|eng d
020			_a9783540707998 _9978-3-540-70799-8
024	7		_a10.1007/978-3-540-70799-8 _2doi
050		4	_aTJ212-225
072		7	_aTJFM _2bicssc
072		7	_aTEC004000 _2bisacsh
082	0	4	_a629.8 _223
100	1		_aMellodge, Patricia. _eauthor.
245	1	0	_aModel Abstraction in Dynamical Systems: Application to Mobile Robot Control _h[electronic resource] / _cby Patricia Mellodge, Pushkin Kachroo.
264		1	_aBerlin, Heidelberg : _bSpringer Berlin Heidelberg, _c2008.
300			_aXIV, 118 p. 68 illus. _bonline resource.
336			_atext _btxt _2rdacontent
337			_acomputer _bc _2rdamedia
338			_aonline resource _bcr _2rdacarrier
347			_atext file _bPDF _2rda
490	1		_aLecture Notes in Control and Information Sciences, _x0170-8643 ; _v379
505	0		_aMathematical Preliminaries -- Kinematic Modeling and Control -- Vision Based Modeling and Control -- Abstraction -- Control Design -- Open-Loop Control Design -- Uncertainty Propagation in Abstracted Systems -- Conclusion.
520			_aThe 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.
650		0	_aEngineering.
650		0	_aArtificial intelligence.
650		0	_aApplied mathematics.
650		0	_aEngineering mathematics.
650		0	_aSystem theory.
650		0	_aVibration.
650		0	_aDynamical systems.
650		0	_aDynamics.
650		0	_aControl engineering.
650		0	_aRobotics.
650		0	_aMechatronics.
650	1	4	_aEngineering.
650	2	4	_aControl.
650	2	4	_aVibration, Dynamical Systems, Control.
650	2	4	_aApplications of Mathematics.
650	2	4	_aControl, Robotics, Mechatronics.
650	2	4	_aArtificial Intelligence (incl. Robotics).
650	2	4	_aSystems Theory, Control.
700	1		_aKachroo, Pushkin. _eauthor.
710	2		_aSpringerLink (Online service)
773	0		_tSpringer eBooks
776	0	8	_iPrinted edition: _z9783540707929
830		0	_aLecture Notes in Control and Information Sciences, _x0170-8643 ; _v379
856	4	0	_uhttp://dx.doi.org/10.1007/978-3-540-70799-8
912			_aZDB-2-ENG
950			_aEngineering (Springer-11647)
999			_c500456 _d500456