Design of Robust Tracking Controller for a Nonholonomic Mobile Robot with Side Slipping based on Lyapunov Redesign H Methods and Nonlinear
Author(s):
Abstract:
Control of nonholonomic mobile robots is more complex with respect to the holonomic type due to fewer degrees of freedom of their model. In addition, side slipping in a nonholonomic mobile robot disturbs the nonholonomic constraint adversely. In previous researches, the slip is either estimated by an estimator or is measured using sensors. In this paper, two robust tracking controllers are designed with considering the upper bound of the side slip value, using the Lyapunov redesign and nonlinear H∞ methods. Also, the angle of kanayama transformation is defined such that the model includes only matched disturbances in order to apply H∞ method. In the presented model, the slippage not only deviate the robot from its path, it also deviates the angle of robot’s main axis (the robot rotates around itself). Then, the performance of these two controllers is compared and the simulation results show the appropriate efficiency of the proposed controllers.
Keywords:
Language:
Persian
Published:
Journal of Electrical Engineering, Volume:45 Issue: 4, 2015
Page:
191
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