Nonlinear H_infinity Control Via Quasi-LPV Representation and Game Theory for Wheeled Mobile Robots

Author

dos Reis, G.A. ; Siqueira, Adriano A G ; Terra, Marco H.

Author_Institution

Dept. of Electr. Eng., Sao Paulo Univ.

fYear

2005

fDate

27-29 June 2005

Firstpage

686

Lastpage

691

Abstract

In this paper, nonlinear dynamic equations of a wheeled mobile robot (WMR) are described in the state-space form where the parameters are part of the state (angular velocities of the wheels). This representation, known as quasi-linear parameter varying (quasi-LPV), is useful for control designs based on nonlinear H_infin approaches. Two nonlinear H_infin controllers that guarantee induced L₂-norm, between input (disturbances) and output signals, bounded by an attenuation level gamma are used to control a WMR. These controllers are solved via linear matrix inequalities (LMIs) and algebraic Riccati equation. Results in simulation are presented, with a comparison study of these two robust control strategies and the standard computed torque, plus proportional-derivative, controller

Keywords

H^infin control; Riccati equations; angular velocity; control system analysis; control system synthesis; game theory; linear matrix inequalities; mobile robots; nonlinear control systems; nonlinear equations; robot dynamics; state-space methods; wheels; LMI; algebraic Riccati equation; game theory; linear matrix inequalities; nonlinear Hinfin control; nonlinear dynamic equations; quasi-LPV representation; wheeled mobile robots; Angular velocity; Attenuation; Computational modeling; Control design; Game theory; Linear matrix inequalities; Mobile robots; Nonlinear equations; Riccati equations; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation

Conference_Location

Limassol

ISSN

2158-9860

Print_ISBN

0-7803-8936-0

Type

conf

DOI

10.1109/.2005.1467097

Filename

1467097