Title :
Controller design for wheeled mobile robots using a finite frequency domain approach
Author :
Li, Hui ; Peng, Liyuan ; Song, Pei ; Ju, Hehua
Author_Institution :
Sch. of Electron. Inf. & Control Eng., Beijng Univ. of Technol., Beijing, China
Abstract :
This paper deals with the robust and parameter-dependent PID controller design problem in finite frequency domain for linear parameter varying systems. To reduce the design conservatism, three finite frequency domain performance criteria with controller design are presented in various frequency ranges. 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). With the aid of the newly developed linearization techniques, the design methods are presented in terms of solutions to a set of linear matrix inequalities. Experimental results are presented by a comparative study with computed torque plus PD controller. The simulation results validate the validity of the controller.
Keywords :
control system synthesis; linear matrix inequalities; linear systems; linearisation techniques; mobile robots; nonlinear equations; robust control; state-space methods; three-term control; design conservatism reduction; finite frequency domain performance criteria; linear matrix inequalities; linear parameter varying systems; linearization techniques; nonlinear dynamic equations; parameter-dependent PID controller design problem; robust controller design problem; state-space form; torque; wheeled mobile robots; Educational institutions; Electronic mail; Frequency control; Frequency domain analysis; Mobile robots; PD control; Torque; Finite Frequency; LMIs; LPV Systems; Parameter-Dependent PID Controller; WMR;
Conference_Titel :
Control and Decision Conference (CCDC), 2012 24th Chinese
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4577-2073-4
DOI :
10.1109/CCDC.2012.6244661