Modeling and H Robust Control for Mobile Robot
نویسندگان
چکیده
Based on kinematic and kinetic analyses of the 3-Degree of Freedom differentially driven wheels mobile robot, we proposed a nonlinear mathematical model with uncertain disturbance. This model was transformed into linear control systems through an approximate linearization algorithm, which is based on balanced flow pattern. After that, we designed a partial feedback H∞ robust controller based on LMI for the robots. The efficiency of our method received supports from the simulation results. Keywords—Mobile Robot, Linearization, LMI, H∞ robust control
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تاریخ انتشار 2008