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Experimental results on the nonlinear ![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20151023080727112-0541:S0263574708004931_char1.gif?pub-status=live)
∞ control via quasi-LPV representation and game theory for wheeled mobile robots
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20151023080727112-0541:S0263574708004931_char1.gif?pub-status=live)
Published online by Cambridge University Press: 01 July 2009
Summary
In this paper, nonlinear dynamic equations of a wheeled mobile robot 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, is useful for control designs based on nonlinear ∞ approaches. Two nonlinear
∞ controllers that guarantee induced
2-norm, between input (disturbances) and output signals, bounded by an attenuation level γ, are used to control a wheeled mobile robot. These controllers are solved via linear matrix inequalities 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.
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- Copyright © Cambridge University Press 2008
References
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