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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 Hinfin approaches. Two nonlinear Hinfin controllers that guarantee induced L2-norm, between input (disturbances) and output signals, bounded by an attenuation level γ are used to control a WMR. These controllers are solved via linear matrix inequalities (LMIs) and algebraic Riccati equation. Experimental results are presented, with a comparative study among these robust control strategies and the standard computed torque, plus proportional-derivative, controller.
Date of Conference: 1-3 Oct. 2007