Document Type
Conference Proceeding
Publication Date
2007
Publication Title
American Control Conference
Publisher
Institute of Electrical and Electronics Engineers
First page number:
3023
Last page number:
3028
Abstract
Feedback control design of complex systems can be made easier by working on simpler models of the system that are their abstractions. This paper presents a method to control a car-like robot using abstraction: the car is represented by a uni- cycle. A transformation is provided to calculate car inputs from unicycle inputs so that the car follows the unicycle trajectory whenever proper initial conditions are met. The transformation does not give correct results for the case when the unicycle is rotating. In this case, an open-loop optimal control algorithm is presented to generate car inputs. Simulation results are given for different initial car inputs and the results are compared.
Keywords
Abstraction; Feedback control systems – Design
Repository Citation
Mellodge, P.,
Kachroo, P.
(2007).
Open-loop Vehicle Control Using an Abstraction of its Model.
American Control Conference
3023-3028.
Institute of Electrical and Electronics Engineers.
https://digitalscholarship.unlv.edu/ece_fac_articles/99
Comments
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