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

Comments

©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Identifier

DOI: 10.1109/ACC.2007.4282715

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