Robust-control-based controller design for a mobile robot
The control of a mobile robot using a linear model with uncertainty for design purposes is investigated. The uncertainty arises from the variation of the operation point of the mobile robot. Robust Control Theory is used for the controller design, which allows dealing with systems whose parameters m...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2008 |
| País: | Argentina |
| Institución: | Consejo Nacional de Investigaciones Científicas y Técnicas |
| Repositorio: | CONICET Digital (CONICET) |
| Idioma: | inglés |
| OAI Identifier: | oai:ri.conicet.gov.ar:11336/27944 |
| Acceso en línea: | http://hdl.handle.net/11336/27944 |
| Access Level: | acceso abierto |
| Palabra clave: | Modeling Uncertainty Nonlinear Systems Robotics Trajectory Tracking https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
| Sumario: | The control of a mobile robot using a linear model with uncertainty for design purposes is investigated. The uncertainty arises from the variation of the operation point of the mobile robot. Robust Control Theory is used for the controller design, which allows dealing with systems whose parameters may vary between certain bounds. The proposed controller has shown, in experimentation tests, an acceptable performance and an easy and simple practical implementation. Also, an application of the proposed controller to a leader-following problem is shown; in it, the relative position between robots is obtained through a laser. |
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