Title :
Exact model matching with limiting properties of LQR and its application to cooperative transportation by two vehicles
Author :
Suzuki, Ryoichi ; Furuya, Shigehiko ; Kawashima, Seishi ; Kobayashi, Nobuaki ; Yamada, Hirofumi
Author_Institution :
Kanazawa Inst. of Technol., Ishikawa, Japan
Abstract :
A new control method by combining exact model matching and limiting properties of linear quadratic regulators (LQR) are proposed in this paper. The method is applied to cooperative transportation control by two vehicles without explicit communication. By combining limiting properties of LQR and exact model matching achieves good tracking performance against disturbance and modeling error on LQ control framework. Effectiveness of the proposed method is confirmed by comparative experiments
Keywords :
control system synthesis; linear quadratic control; materials handling; mobile robots; multi-robot systems; vehicles; LQ control framework; LQR; comparative experiments; cooperative transportation control; exact model matching; limiting properties; linear quadratic regulators; Communication system control; Control system synthesis; Educational institutions; Error correction; Mathematical model; Optimal control; Regulators; Space vehicles; State feedback; Transportation;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897439
