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Experimental results on the nonlinear H control via quasi-LPV representation and game theory for wheeled mobile robots

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3 Author(s)
Inoue, R.S. ; Sao Paulo Univ., Sao Carlos ; Siqueira, A.A.G. ; Terra, M.H.

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.

Published in:

Control Applications, 2007. CCA 2007. IEEE International Conference on

Date of Conference:

1-3 Oct. 2007