Title :
Combination of kinematical and robust dynamical controllers for mobile robotics tracking control: (I) optimal H∞ control
Author :
Hwang, Chi-kuang ; Chen, Bor-Sen ; Chang, Yu-Te
Author_Institution :
Dept. of Electr. Eng., Chung-Hua Univ., Hsinchu, Taiwan
Abstract :
In the paper we consider the model of the mobile robot from kinematical behavior to design the kinematical tracking controller by using the Lyapunov stability theorem. An asymptotically stable kinematical controller is studied. Dynamic model of mobile robots is studied with consideration of the model uncertainty. Therefore, the proposed combination of kinematical and robust H∞ dynamical tracking controllers in the paper is suitable for wheeled vehicle systems with uncertainties and external disturbance.
Keywords :
H∞ control; Lyapunov methods; asymptotic stability; control system synthesis; mobile robots; robot dynamics; robot kinematics; time-varying systems; Lyapunov stability theorem; asymptotically stable kinematical controller; kinematical robust dynamical controllers; mobile robotics tracking control; model uncertainty; optimal H∞ control; robust H∞ dynamical tracking controllers; Control systems; Lyapunov method; Mobile robots; Optimal control; Robot control; Robust control; Shape control; Uncertainty; Vehicle dynamics; Vehicles;
Conference_Titel :
Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
Print_ISBN :
0-7803-8633-7
DOI :
10.1109/CCA.2004.1387537
