Mellodge, P: Model Abstraction in Dynamical Systems
(Sprache: Englisch)
This book investigates abstraction of dynamical systems for the purpose of designing controllers. Abstraction is a means to reduce a system model's complexity while retaining the important behavior of that system. The motivating example throughout this text...
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Produktinformationen zu „Mellodge, P: Model Abstraction in Dynamical Systems “
This book investigates abstraction of dynamical systems for the purpose of designing controllers. Abstraction is a means to reduce a system model's complexity while retaining the important behavior of that system. The motivating example throughout this text is the robotic car. Two topics are introduced in this text: control design using abstraction and propagation of uncertainty in abstracted systems. First, this book investigates the conditions for which controllers can be designed in abstracted systems and then transferred to the original dynamical system, taking advantage of design using the simpler model. This book also studies the relationship between the evolution of uncertain initial conditions in abstracted control systems. It is shown that a control system abstraction can capture the time evolution of the uncertainty in the original system by an appropriate choice of control input.
Klappentext zu „Mellodge, P: Model Abstraction in Dynamical 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.
Inhaltsverzeichnis zu „Mellodge, P: Model Abstraction in Dynamical Systems “
Mathematical Preliminaries.- Kinematic Modeling and Control.- Vision Based Modeling and Control.- Abstraction.- Control Design.- Open-Loop Control Design.- Uncertainty Propagation in Abstracted Systems.- Conclusion.
Bibliographische Angaben
- Autoren: Patricia Mellodge , Pushkin Kachroo
- XIV, 118 Seiten, 68 Schwarz-Weiss-Abbildungen, Masse: 15,6 x 23,7 cm, Kartoniert (TB), Englisch
- Verlag: Springer Berlin
- ISBN-10: 3540707921
- ISBN-13: 9783540707929
- Erscheinungsdatum: 02.09.2008
Sprache:
Englisch
Rezension zu „Mellodge, P: Model Abstraction in Dynamical Systems “
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)
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