Title :
Cooperative transportation control by using internal model control design and LQ control
Author :
Suzuki, Ryoichi ; Tani, Masashi ; Kurakawa, Satoshi ; Shimizu, Akihiro ; Kobayashi, Nobuaki
Author_Institution :
Kanazawa Inst. of Technol., Ishikawa, Japan
Abstract :
Robust properties of a control method by combining internal model control and LQ control (IMC-LQ control) are proposed in this paper. The method is applied to cooperative transportation control by two vehicles without explicit communication. By using the IMC-LQ control method, the controlled object achieves good tracking performance against disturbance and modeling error. Effectiveness of the proposed method is confirmed by cooperative experiments.
Keywords :
linear quadratic control; position control; robust control; tracking; transportation; IMC-LQ control method; LQ control; cooperative transportation control; internal model control design; linear quadratic; modeling error; robust properties; tracking performance; vehicles; Communication system control; Control design; Control systems; Feedback; Infrared sensors; Mobile communication; Robustness; Transportation; Vehicles; Wheels;
Conference_Titel :
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN :
0-7803-7729-X
DOI :
10.1109/CCA.2003.1223182
