Adaptive pole placement for a MIMO quasi-linear parameter varying mobile robot

Author

Tsourdos, Antonios ; Economou, John T. ; White, Brian A.

Author_Institution

R. Mil. Coll. of Sci., Cranfield Univ., Shrivenham, UK

Volume

2

fYear

2002

fDate

2-5 Dec. 2002

Firstpage

590

Abstract

In this paper, an indirect adaptive control scheme is proposed for a multiple-input multiple-output differentially steered mobile robot. The resulted closed-loop system has an effective control for both the vehicle longitudinal velocity and the vehicle yaw rate. The closed-loop system stability is examined via LMI quadratic stability test. The proposed scheme shows effectiveness for a variety of realistic simulation scenarios.

Keywords

MIMO systems; adaptive control; closed loop systems; input-output stability; linear matrix inequalities; mobile robots; motion control; nonlinear control systems; LMI; adaptive control scheme; adaptive pole placement; closed loop system; differentially steered mobile robot; linear matrix inequality; multiple-input multiple-output system; quadratic stability test; quasi linear parameter; vehicle longitudinal velocity; vehicle yaw rate; Adaptive control; Automatic control; Control systems; MIMO; Mobile robots; Navigation; Stability; State feedback; Vehicles; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on

Print_ISBN

981-04-8364-3

Type

conf

DOI

10.1109/ICARCV.2002.1238490

Filename

1238490