Title :
Signal invariance and trajectory steering problem for an autonomous wheeled robot
Author :
Yakubovich, Vladimir A. ; Melnikov, Alexander ; Proskurnikov, Anton ; Luchin, Roman
Author_Institution :
Math. & Mech. Dept., St.Petersburg State Univ., St. Petersburg, Russia
Abstract :
We give a new convenient parametrization of linear controllers that solve the problem of signal invariance (or disturbance cancellation) for MIMO plants. As an example of application of the obtained results we consider the trajectory tracking problem for non-holonomic wheeled transport robots.
Keywords :
MIMO systems; linear systems; mobile robots; trajectory control; MIMO plants; autonomous wheeled robot; disturbance cancellation; linear controllers; nonholonomic wheeled transport robots; signal invariance; trajectory steering problem; Mobile robots; Polynomials; Robot sensing systems; Trajectory; Vehicles; Wheels;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160990
