The purpose of this paper is to perform path
tracking for a non-holonomic mobile robot subject to kinematic disturbances
using model prediction and
control and by Gain-scheduled control law. In
this method, the problem of tracking a mobile robot is expressed in such a someway
that its kinematic error is in the form of linear parameter variable with
bounded disturbance, the purpose of the design is to stabilize the controller
by solving the LMI conditions for the error tracking model. In
the following stability, conditions are then formulated in such a way that the
upper bounds are considered as LMI auxiliary variables and with the help of
more free matrices we can reduce conservatism. The target tracking is first
designed with the assumption that there is no obstacle in the environment, and
then the obstacle avoidance mode is added to the tracer controller, which is
done by modifying the optimal state vector definition. In both cases, the
system stability check is also performed. Simulation is performed on several
predetermined paths indicating that this strategy is feasible.
Sariaron, N. (2022). Mixed H_2/H_∞ and Robust Predictive to Control Wheeled Mobile Robots with Time Delay. Afribary. Retrieved from https://afribary.com/works/mixed-h-2-h-and-robust-predictive-to-control-wheeled-mobile-robots-with-time-delay
Sariaron, Nadia "Mixed H_2/H_∞ and Robust Predictive to Control Wheeled Mobile Robots with Time Delay" Afribary. Afribary, 13 Feb. 2022, https://afribary.com/works/mixed-h-2-h-and-robust-predictive-to-control-wheeled-mobile-robots-with-time-delay. Accessed 10 Aug. 2022.
Sariaron, Nadia . "Mixed H_2/H_∞ and Robust Predictive to Control Wheeled Mobile Robots with Time Delay". Afribary, Afribary, 13 Feb. 2022. Web. 10 Aug. 2022. < https://afribary.com/works/mixed-h-2-h-and-robust-predictive-to-control-wheeled-mobile-robots-with-time-delay >.
Sariaron, Nadia . "Mixed H_2/H_∞ and Robust Predictive to Control Wheeled Mobile Robots with Time Delay" Afribary (2022). Accessed August 10, 2022. https://afribary.com/works/mixed-h-2-h-and-robust-predictive-to-control-wheeled-mobile-robots-with-time-delay