Title :
Modeling and H∞ Robust Control for Mobile Robot
Author :
Jiang, Wenping ; Ge, Weimin
Author_Institution :
Sch. of Electr. Eng. & Autom., Tianjin Univ., Tianjin
Abstract :
Based on kinematic and kinetic analyses of the 3-degree of freedom differentially driven wheels mobile robot, we proposed a nonlinear mathematical model with uncertain disturbance. This model was transformed into linear control systems through an approximate linearization algorithm, which is based on balanced flow pattern. After that, we designed a partial feedback H∞ robust controller based on LMI for the robots. The efficiency of our method received supports from the simulation results.
Keywords :
Hinfin control; control system synthesis; feedback; linear matrix inequalities; mobile robots; robot kinematics; robust control; Hinfin robust control; LMI; approximate linearization algorithm; balanced flow pattern; linear control systems; linear matrix inequalities; mobile robot; nonlinear mathematical model; partial feedback; robot kinematics; uncertain disturbance; Arithmetic; Control system synthesis; Feedback; Kinematics; Kinetic theory; Linear approximation; Mathematical model; Mobile robots; Robust control; Wheels; H¿ robust control; LMI; Linearization; Mobile Robot;
Conference_Titel :
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1675-2
Electronic_ISBN :
978-1-4244-1676-9
DOI :
10.1109/RAMECH.2008.4681452
