DocumentCode
3278891
Title
Non-fragile control for trajectory tracking of nonholonomic mobile robots
Author
Na Ni ; Yingmin Jia ; Junping Du ; Fashan Yu
Author_Institution
Dept. of Syst. & Control, Beihang Univ. (BUAA), Beijing, China
fYear
2010
fDate
June 30 2010-July 2 2010
Firstpage
214
Lastpage
218
Abstract
This paper is devoted to the non-fragile controller design for the trajectory tracking of nonholonomic mobile robots. Using non-linear state feedback and proper coordinate transformation, the model of nonholonomic mobile robots is exactly linearized. Based on which, the non-fragile controller is designed by employing the linear matrix inequality (LMI) approach. Simulation examples are included to illustrate the effectiveness of the proposed controller.
Keywords
control system synthesis; linear matrix inequalities; mobile robots; position control; tracking; coordinate transformation; linear matrix inequality; nonfragile controller design; nonholonomic mobile robots; trajectory tracking; Control systems; Error correction; Laboratories; Mobile robots; Orbital robotics; Robot kinematics; Sliding mode control; State feedback; Tracking; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2010
Conference_Location
Baltimore, MD
ISSN
0743-1619
Print_ISBN
978-1-4244-7426-4
Type
conf
DOI
10.1109/ACC.2010.5530624
Filename
5530624
Link To Document