Robust H∞ Controller Design for Wheeled Mobile Robot with Time-delay

摘要：

This paper introduces the modeling problem of wheeled mobile robots with nonholonomic restriction, and proposes a nonlinear mathematical model with uncertain disturbance and time-delay. Then we transform this nonlinear system into a linear one. Based on LMI, a local feedback Hx robust controller is designed and its validity is verified by simulation.

作者: Wenping Jiang

作者单位: School of Electrical Engineering and Automation Tianjin University Tianjin 300072, China

会议类型: 国际会议

会议名称: International Conference on Intelligent Computation Technology and Automation(2008 智能计算技术与自动化国际会议 ICICTA 2008)

会议地点: 长沙

会议语种:英文

页码: 450-454

在线出版日期: 2008-10-20（万方平台首次上网日期，不代表论文的发表时间）