Multirate H/sub 2/ control synthesis for a micro-tunneling robot navigation system

In this paper, a multirate H/sub 2/ control synthesis is presented for the horizontal navigation system of a center-articulated micro-tunneling robot, in which the sampling intervals for the horizontal position and orientation of the robot are different. The projected line to be tunneled is approximated by a transfer function and combined with a dynamic model of the robot. Then, for the corresponding lifted system, we design a discrete H/sub 2/ optimal controller with a causality constraint. The validity of the controller is verified in numerical simulations.