Robust Disturbance Attenuation Control for Wheeled Mobile Robot with Saturation Via Uncertain T-S Fuzzy Model
In this paper, a robust disturbance attenuation control scheme for Wheeled Moving Robot (WMR) with actuator saturations is proposed. First, tracking error dynamics of WMR considering disturbances is represented by uncertain Tagaki-Sugeno (T-S) fuzzy model, where varying velocity in desired trajectory is look as uncertain parameter. Then a constrained robust H∞ controller in the form of state feedback is derived for each subsystem by solving LMI based semi-deflnite programming problems. Finally, The overall controller then is constructed in the framework of PDC and the Lyapunov stability of the closed-loop system is tested finally. Simulation results are given and discussed to validate the proposed scheme.
uncertam T-S model WMR disturbance attenuation control robust H∞ control
GAO Xingquan HAN Jingqiu
dept. Automation Jilin Institute of Chemical Technology Jilin City, China Polyethylene Plant, PetroChina Jilin Petrochemical Company Jilin City, China
国际会议
杭州
英文
298-301
2012-10-28（万方平台首次上网日期，不代表论文的发表时间）