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Introduction to Mobile Robot Control
book

Introduction to Mobile Robot Control

by Spyros G Tzafestas
October 2013
Intermediate to advanced content levelIntermediate to advanced
750 pages
16h 52m
English
Elsevier
Content preview from Introduction to Mobile Robot Control
6

Mobile Robot Control II

Affine Systems and Invariant Manifold Methods

Mobile robots are highly nonlinear, and especially nonholonomic constraints have motivated the development of highly nonlinear control techniques. In Chapter 5, the basic computed torque/motion and Lyapunov-based control design techniques were presented. The goal of this chapter is to provide further advanced mobile robot controllers using the affine system, state feedback linearization theory, and the invariant manifolds methodology.

In particular, this chapter (i) presents the fundamental concepts of affine control systems, and invariant/attractive manifolds theory, (ii) presents a number of feedback linearization and linear trajectory tracking controllers for differential-drive ...

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Publisher Resources

ISBN: 9780124170490