Keywords and Phrases
State Dependent Algebraic Riccati Equation
"A traditional tracking and control design approach already available in literature is derived and discussed for a car-like mobile robot. It involves a decoupled design involving two separate algorithms, one for velocity control design and another for torque control design. Weak interactions among the algorithms and separate designs make the robot performance optimization and the formation stability difficult to achieve. So, a new tracking and control architecture wherein the conventional elements are replaced by a single component that performs all the functions and hence called the integrated tracking and control scheme is used"--Abstract, page iii.
Balakrishnan, S. N.
Wunsch, Donald C.
Venayagamoorthy, Ganesh K.
Electrical and Computer Engineering
M.S. in Electrical Engineering
Missouri University of Science and Technology
viii, 122 pages
© 2008 Shweta Annapurani Panimadai Ramaswamy, All rights reserved.
Thesis - Open Access
Library of Congress Subject Headings
Nonlinear control theory
Robots -- Control systems
Print OCLC #
Electronic OCLC #
Link to Catalog Recordhttp://laurel.lso.missouri.edu/record=b6489551~S5
Panimadai Ramaswamy, Shweta Annapurani, "Formation control of car-like mobile robots" (2008). Masters Theses. 4601.