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

fYear

2000

fDate

2000

Firstpage

291

Lastpage

296

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on

Conference_Location

Anchorage, AK

Print_ISBN

0-7803-6562-3

Type

conf

DOI

10.1109/CCA.2000.897439

Filename

897439