A Finite Frequency Domain Approach to LPV Systems Control for Wheeled Mobile Robots
This paper deals with the robust and parameterdependent PID controller design problem in finite frequency domain for linear parameter varying systems. To reduce the design conservatism, three finite frequency domain performance criteria with controller design are presented in various frequency ranges. 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). With the aid of the newly developed linearization techniques, the design methods are presented in terms of solutions to a set of linear matrix inequalities. Experimental results are presented, with a comparative study among the robust control strategy and the standard Computed Torque, plus Proportional Derivative, controller.
Robust PID Control LPVSystems WMR Finite Frequency Parameter-Dependent PID Controller LMIs
Hui Li Hehua Ju
Academy of Electronic Information and Control Engineering Beijing University of Technology Beijing, China
国际会议
杭州
英文
377-382
2011-10-28（万方平台首次上网日期，不代表论文的发表时间）