Title :
Robust H Infinity Controller Design for Wheeled Mobile Robot with Time-Delay
Author_Institution :
Sch. of Electr. Eng. & Autom., Tianjin Univ., Tianjin
Abstract :
This paper introduces the modeling problem of wheeled mobile robots with nonholonomic restriction,and proposes a nonlinear mathematical model with uncertain disturbance and time-delay. Then we transform this nonlinear system into a linear one. Based on LMI, a local feedback Hinfin robust controller is designed and its validity is verified by simulation.
Keywords :
Hinfin control; controllers; delays; linear matrix inequalities; mobile robots; Hinfin controller; linear matrix inequalities; nonholonomic restriction; time delay; wheeled mobile robot; Design automation; H infinity control; Intelligent robots; Mathematical model; Mobile robots; Robot kinematics; Robot sensing systems; Robotics and automation; Robust control; Wheels;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2008 International Conference on
Conference_Location :
Hunan
Print_ISBN :
978-0-7695-3357-5
DOI :
10.1109/ICICTA.2008.466
