Masters Theses

Keywords and Phrases

State Dependent Algebraic Riccati Equation

Abstract

"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.

Advisor(s)

Balakrishnan, S. N.
Wunsch, Donald C.

Committee Member(s)

Venayagamoorthy, Ganesh K.

Department(s)

Electrical and Computer Engineering

Degree Name

M.S. in Electrical Engineering

Publisher

Missouri University of Science and Technology

Publication Date

Spring 2008

Pagination

viii, 122 pages

Rights

© 2008 Shweta Annapurani Panimadai Ramaswamy, All rights reserved.

Document Type

Thesis - Open Access

File Type

text

Language

English

Subject Headings

AlgorithmsLyapunov functionsNonlinear control theoryRiccati equationRobots -- Control systems

Thesis Number

T 9355

Print OCLC #

260324785

Electronic OCLC #

223412114

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