Nonlinear Control of Wheeled Mobile Robots

• Main Authors: Dixon, Warren E. (Author, http://id.loc.gov/vocabulary/relators/aut), Dawson, Darren M. (http://id.loc.gov/vocabulary/relators/aut), Zergeroglu, Erkan (http://id.loc.gov/vocabulary/relators/aut), Behal, Aman (http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: London : Springer London : Imprint: Springer, 2001.
• Edition: 1st ed. 2001.
• Series: Lecture Notes in Control and Information Sciences, 262
• Subjects: Robotics.; Automation.; Control engineering.; Mechatronics.; Robotics and Automation.; Control, Robotics, Mechatronics.

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...

Table of Contents:

• Model development and control objectives
• Robust control
• Adaptive control
• Output feedback control
• Vision based control
• Robustness to kinematic disturbances
• Beyond wheeled mobile robots.