Title :
Robust Disturbance Attenuation Control for Wheeled Mobile Robot with Saturation via Uncertain T-S Fuzzy Model
Author :
Gao Xingquan ; Han Jingqiu
Author_Institution :
Dept. Autom., Jilin Inst. of Chem. Technol., Jilin, China
Abstract :
In this paper, a robust disturbance attenuation control scheme for Wheeled Moving Robot (WMR) with actuator saturations is proposed. First, tracking error dynamics of WMR considering disturbances is represented by uncertain Tagaki-Sugeno (T-S) fuzzy model, where varying velocity in desired trajectory is look as uncertain parameter. Then a constrained robust ℋ∞ controller in the form of state feedback is derived for each subsystem by solving LMI based semidefinite programming problems. Finally, The overall controller then is constructed in the framework of PDC and the Lyapunov stability of the closed-loop system is tested finally. Simulation results are given and discussed to validate the proposed scheme.
Keywords :
H∞ control; Lyapunov methods; actuators; closed loop systems; fuzzy systems; linear matrix inequalities; mathematical programming; mobile robots; robot dynamics; robust control; state feedback; uncertain systems; wheels; LMI-based semidefinite programming problems; Lyapunov stability; PDC framework; WMR error dynamics tracking; actuator saturations; closed-loop system; constrained robust ℋ∞ controller; robust disturbance attenuation control scheme; state feedback; uncertain T-S fuzzy model; uncertain Tagaki-Sugeno fuzzy model; uncertain fuzzy model; uncertain parameter; wheeled mobile robot; Actuators; Attenuation; Computational modeling; Mobile robots; Robustness; Trajectory; Uncertainty; WMR; disturbance attenuation control; robust H-infinity control; uncertain T-S model;
Conference_Titel :
Computational Intelligence and Design (ISCID), 2012 Fifth International Symposium on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4673-2646-9
DOI :
10.1109/ISCID.2012.82
