Robust H-Infinity Control of Intelligent Autonomous Navigation Wheelchair

Author

Fucheng Cao ; Xianwei Wang ; Jixia Shi

Author_Institution

Coll. of Electron. Inf. & Eng., Changchun Univ., Changchun, China

fYear

2013

fDate

11-13 Dec. 2013

Firstpage

461

Lastpage

464

Abstract

This paper proposes a robust control for a two-wheeled intelligent wheelchair using H-infinity (H_∞) control scheme in the presence of uncertainties. An optimal H_∞ controller design is given based on an iterative linear matrix inequality algorithm, which is robust to variance of the motor dynamics, sensor noise, and unmodeled vehicle dynamics. Finally, the simulation experiments show the effectiveness of the proposed scheme.

Keywords

H^∞ control; control system synthesis; handicapped aids; intelligent robots; iterative methods; linear matrix inequalities; mobile robots; navigation; robust control; uncertain systems; vehicle dynamics; wheelchairs; intelligent autonomous navigation wheelchair; iterative linear matrix inequality algorithm; motor dynamics variance; optimal H_∞ controller design; robust H-infinity control; sensor noise; two-wheeled intelligent wheelchair; uncertainties; unmodeled vehicle dynamics; Mathematical model; Mobile robots; Robustness; Uncertainty; Wheelchairs; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Mobile Ad-hoc and Sensor Networks (MSN), 2013 IEEE Ninth International Conference on

Conference_Location

Dalian

Print_ISBN

978-0-7695-5159-3

Type

conf

DOI

10.1109/MSN.2013.106

Filename

6726375