Experimental results on the nonlinear ∞ control via quasi-LPV representation and game theory for wheeled mobile robots

In this paper, nonlinear dynamic equations of a wheeled mobile robot are described in the state-space form where the parameters are part of the state (angular velocities of the wheels). This representation, known as quasi-linear parameter varying, is useful for control designs based on nonlinear ∞ a...

Full description

Saved in:
Bibliographic Details
Published in:Robotica 2009-07, Vol.27 (4), p.547-553
Main Authors: Inoue, Roberto S., Siqueira, Adriano A. G., Terra, Marco H.
Format: Article
Language:English
Subjects:
Angular velocity
Attenuation
Comparative studies
Controllers
Game theory
Linear matrix inequalities
Linear parameter varying systems
Mathematical analysis
Matrix methods
Mobile robots
Nonlinear control
Nonlinear dynamics
Nonlinear equations
Nonlinear H∞ control
Parameters
Proportional derivative
Representations
Riccati equation
Robot control
Robust control
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, nonlinear dynamic equations of a wheeled mobile robot are described in the state-space form where the parameters are part of the state (angular velocities of the wheels). This representation, known as quasi-linear parameter varying, is useful for control designs based on nonlinear ∞ approaches. Two nonlinear ∞ controllers that guarantee induced 2-norm, between input (disturbances) and output signals, bounded by an attenuation level γ, are used to control a wheeled mobile robot. These controllers are solved via linear matrix inequalities and algebraic Riccati equation. Experimental results are presented, with a comparative study among these robust control strategies and the standard computed torque, plus proportional-derivative, controller.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574708004931