東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

On network-based control and sensiti...

North Carolina State University.

FindBook

Google Book

Amazon

博客來

On network-based control and sensitivity characterization of mobile robot in IntelligentSpace.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	On network-based control and sensitivity characterization of mobile robot in IntelligentSpace./
作者:	Vanijjirattikhan, Rangsarit.
面頁冊數:	173 p.
附註:	Adviser: Mo-Yuen Chow.
Contained By:	Dissertation Abstracts International69-04B.
標題:	Engineering, Automotive. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3306653
ISBN:	9780549549741

On network-based control and sensitivity characterization of mobile robot in IntelligentSpace.
Vanijjirattikhan, Rangsarit.

On network-based control and sensitivity characterization of mobile robot in IntelligentSpace. - 173 p.

Adviser: Mo-Yuen Chow.

Thesis (Ph.D.)--North Carolina State University, 2008.

This dissertation addresses the problem of path-tracking control of a mobile robot, also called an Unmanned Ground Vehicle (UGV), in Intelligent Space, where the controller is located on an entity different from the robot and communicates with the robot over a communication network. The involvement of a communication network leads us to the core of this research, the network time-delay factor. The existence of a network delay presents a challenging problem that might degrade the overall system performance and even destabilize the closed-loop control system.

ISBN: 9780549549741Subjects--Topical Terms:

1018477
Engineering, Automotive.

On network-based control and sensitivity characterization of mobile robot in IntelligentSpace.
LDR:02987nmm 2200313 a 45 001 862604
005 20100721
008 100721s2008 ||||||||||||||||| ||eng d
020 $a 9780549549741
035 $a (UMI)AAI3306653
035 $a AAI3306653
040 $a UMI $c UMI
100 1 $a Vanijjirattikhan, Rangsarit. $3 1030438
245 1 0 $a On network-based control and sensitivity characterization of mobile robot in IntelligentSpace.
300 $a 173 p.
500 $a Adviser: Mo-Yuen Chow.
500 $a Source: Dissertation Abstracts International, Volume: 69-04, Section: B, page: 2542.
502 $a Thesis (Ph.D.)--North Carolina State University, 2008.
520 $a This dissertation addresses the problem of path-tracking control of a mobile robot, also called an Unmanned Ground Vehicle (UGV), in Intelligent Space, where the controller is located on an entity different from the robot and communicates with the robot over a communication network. The involvement of a communication network leads us to the core of this research, the network time-delay factor. The existence of a network delay presents a challenging problem that might degrade the overall system performance and even destabilize the closed-loop control system.
520 $a The existing research area for the aforementioned scenario is called Network-based control system (NBC) mostly focused on a general linear system for which the controller must be redesigned so that the overall NBC system can work properly. Distinct from the existing research, and innovative in its own right, the research presented in this dissertation focuses on a specific nonlinear system, the remote UGV path-tracking. More specifically, we focus on the methods that allow the existing workable path-tracking controller to be reused in the NBC environment.
520 $a In this work, Accumulated effect parameter tuning method is firstly proposed to tune the geometrical path-tracking controller used in UGV before operating over communication network; then sensitivity analysis is introduced to consider how the system is sensitive to noise or perturbation so that the operating condition, such as UGV speed and path curvature, may be changed to limit the effect from noise or perturbation; afterwards, Feedback pre-processor (FP) is proposed to alleviate the effect of network delay by using UGV position estimation through UGV kinematics model; along with FP, UGV response time is proposed to demonstrate the effect of different UGV characteristics on path-tracking performance; finally, the effect of using Gain scheduler (GS) with two-dimensional and one-dimensional gain table is investigated for the capability to alleviate the network delay on remote UGV path-tracking.
590 $a School code: 0155.
650 4 $a Engineering, Automotive. $3 1018477
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0540
690 $a 0544
690 $a 0771
710 2 $a North Carolina State University. $3 1018772
773 0 $t Dissertation Abstracts International $g 69-04B.
790 $a 0155
790 1 0 $a Chow, Mo-Yuen, $e advisor
791 $a Ph.D.
792 $a 2008
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3306653