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
Algorithms
Lyapunov functions
Nonlinear control theory
Riccati equation
Robots -- Control systems
Thesis Number
T 9355
Print OCLC #
260324785
Electronic OCLC #
223412114
Link to Catalog Record
Recommended Citation
Panimadai Ramaswamy, Shweta Annapurani, "Formation control of car-like mobile robots" (2008). Masters Theses. 4601.
https://scholarsmine.mst.edu/masters_theses/4601
