Output feedback nonlinear H∞ control of wheeled mobile robots formation

Author

Francisco, Tatiane B R ; Terra, Marco H. ; Siqueira, Adriano A G

Author_Institution

Dept. of Electr. Eng., Sao Paulo Univ., Sao Carlos

fYear

2008

fDate

25-27 June 2008

Firstpage

1150

Lastpage

1155

Abstract

This paper presents a procedure to design robust controllers for a group of wheeled mobile robots (WMRs) in formation. Wheeled mobile robots exchange informations according to a pre-specified communication digraph. Stable motions are generated by a decentralized control law based on the robots coordinates. In addition, the nonlinear dynamic equations of the robots are described in state-space form where the parameters matrices depend on the angular velocities of the wheels. Output feedback controllers based on nonlinear H_infin approaches are designed in order to guarantee the stability formation. Results obtained from simulation illustrate the effectiveness of this procedure.

Keywords

H^infin control; control system synthesis; decentralised control; feedback; mobile robots; nonlinear control systems; nonlinear equations; robust control; communication digraph; decentralized control; nonlinear dynamic equations; output feedback nonlinear H_infin control; robust controllers; wheeled mobile robots formation; Angular velocity; Communication system control; Distributed control; Mobile communication; Mobile robots; Nonlinear equations; Output feedback; Robot kinematics; Robust control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2008 16th Mediterranean Conference on

Conference_Location

Ajaccio

Print_ISBN

978-1-4244-2504-4

Electronic_ISBN

978-1-4244-2505-1

Type

conf

DOI

10.1109/MED.2008.4602240

Filename

4602240