Title :
Non-fragile control for trajectory tracking of nonholonomic mobile robots
Author :
Na Ni ; Yingmin Jia ; Junping Du ; Fashan Yu
Author_Institution :
Dept. of Syst. & Control, Beihang Univ. (BUAA), Beijing, China
fDate :
June 30 2010-July 2 2010
Abstract :
This paper is devoted to the non-fragile controller design for the trajectory tracking of nonholonomic mobile robots. Using non-linear state feedback and proper coordinate transformation, the model of nonholonomic mobile robots is exactly linearized. Based on which, the non-fragile controller is designed by employing the linear matrix inequality (LMI) approach. Simulation examples are included to illustrate the effectiveness of the proposed controller.
Keywords :
control system synthesis; linear matrix inequalities; mobile robots; position control; tracking; coordinate transformation; linear matrix inequality; nonfragile controller design; nonholonomic mobile robots; trajectory tracking; Control systems; Error correction; Laboratories; Mobile robots; Orbital robotics; Robot kinematics; Sliding mode control; State feedback; Tracking; Trajectory;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5530624
