Leena Vachhani - Embedded Control for Mobile Robotic Applications (IEEE Press Series on Control Systems Theory and Applications)

1. Chapter 4
2. Chapter 6

1. Chapter 1
2. Chapter 2
3. Chapter 3
4. Chapter 4
5. Chapter 5
6. Chapter 6

IEEE Press
445 Hoes Lane
Piscataway, NJ 08854

IEEE Press Editorial Board
Sarah Spurgeon, Editor in Chief

Leena Vachhani

Indian Institute of Technology

Bombay

Pranjal Vyas

Advanced Remanufacturing Technology Center Agency of Science

Technology and Research (A*STAR)

Singapore

Arunkumar G. K.

Indian Institute of Technology

Bombay

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The book aims at the community interested in learning control design for targeting implementation on an embedded platform. The issues in implementing a controller on an embedded platform are usually not considered at the time of designing. This book first gives an overview of implementation issues and then gives its implication on controller performance. The control engineer must ensure that these implications do not disturb the stability of the control system and do not give performance deterioration due to the controller's embedded implementation.

The trend in mobile robotic applications is to use onboard processing and sensing, making the robot self-sufficient. With the objectives of onboard processing and sensing, the controller must guarantee control objectives set for the particular application. While the controller designed using theoretical concepts support the claims on selected control objectives for the robotic application, the faithful implementation of the designed controller is equally important to guarantee the execution of designed controller. Typical issues in embedded implementation are limited memory, limited data width, quantization noise, sampling noise, and limited computational capability. These implementation issues, if ignored, raise the question of stability of the designed controller. Hence, the analysis of controller design is incomplete without considering the issues in implementation. A way to deal with this is to ensure that these embedded implementation issues do not affect stability. The other better way is to consider the issues and limitations of an embedded processor when designing the controller. There is a need of considering the implementation aspects at the time of designing controller using control theoretical concepts.

The book presents the concepts and challenges in designing embedded controller for mobile robotic applications. The approach in this book is to give elementary concepts on embedded designs and use of control concepts for designing efficient embedded controllers for mobile robotic application. The question is now how to use the concepts in future controller designs. The answer lies in the approaches covered in the bottom-up () approaches. These approaches are presented to provide generic methodologies for embedded controller designs. However, the general methodologies may not be limited to the ones covered in this book. The emphasis in this book is to develop embedded controller designs with a generic approach for catering to variety of control objectives in the larger set of mobile robotic applications. In particular, the book interlaces relevant control theory concepts with embedded design concepts applied to mobile robotic applications. The embedded controller design with a generic approach facilitates straightforward implementation. It is clear that the embedded controller design for mobile robotic applications must cover the topics on embedded design, controller design concepts, and mobile robotic applications. The book presents these concepts in a systematic interlaced manner.

Available embedded technologies and the corresponding design efforts to estimate the market value on embedded controller design are introduced in the first chapter. Further, the embedded technologies are mapped to popular embedded processors to date and their requirements and limitations from the controller design perspective.