Title :
Adaptive H∞ Control of Nonholonomic Systems Based on Inverse Optimality and Its Application to Mobile Robot
Author :
Miyasato, Yoshihiko
Author_Institution :
Dept. of Math. Anal. & Stat. Inference, Inst. of Stat. Math., Tokyo
Abstract :
A design method of adaptive H∞ control of uncertain nonholonomic systems is presented based on the notion of inverse optimality. The proposed methodology is applied to chained systems of high orders, and the controller designs by both state and output feedbacks are shown. The resulting control strategy is derived as a solution of certain H∞ control problem, where estimation errors of tuning parameters and adaptive observers are regarded as external disturbances to the process. The proposed methodology can be used to control mobile robots with uncertain measurement error
Keywords :
H∞ control; adaptive control; error analysis; mobile robots; observers; state feedback; uncertain systems; adaptive H∞ control; adaptive observer; error estimation; inverse optimality; mobile robot; output feedback; state feedback; tuning parameter; uncertain nonholonomic system; Adaptive control; Control systems; Design methodology; Estimation error; Mobile robots; Observers; Optimal control; Output feedback; Programmable control; Robot control;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376696
