• DocumentCode
    3484501
  • Title

    Modeling and H∞ Robust Control for Mobile Robot

  • Author

    Jiang, Wenping ; Ge, Weimin

  • Author_Institution
    Sch. of Electr. Eng. & Autom., Tianjin Univ., Tianjin
  • fYear
    2008
  • fDate
    21-24 Sept. 2008
  • Firstpage
    1108
  • Lastpage
    1112
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/RAMECH.2008.4681452
  • Filename
    4681452
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3484501