کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / نهمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

A new robust control for mobile robots with differential wheels:output- and state- dependent Riccati equation approach

نویسندگان :

Neda Nasiri¹ Ahmad Fakharian² Mohammad Bagher Menhaj³

1- Dept. of Electrical Engineering Qazvin Branch, Islamic Azad University Qazvin, Iran 2- Dept. of Electrical Engineering Qazvin Branch, Islamic Azad University Qazvin, Iran 3- The Center of Excellence on Control and Robotics, Dept. of Electrical Engineering Amirkabir University of Technology (Tehran Polytechnic) Tehran, Iran

کلمات کلیدی :

Mobile robot،Out-put and State- dependent Riccati Equation،Optimal control،Robust control،Uncertainty

چکیده :

In this paper, a new robust controller for over-actuated uncertain systems with constraints is presented in output- and state- dependent Riccati equation framework. Towards this end, an equivalent optimal problem is introduced using Output- and State Dependent Riccati Equation (OSDRE). The performance index for an auxiliary output- and state- dependent system is modified through inclusion uncertainty upper bounds and then minimized. The proposed method is applied to a mobile robot with differential wheels. Uncontrollability condition put on SDRE due to differential constraints of wheels. This problem leads to SDRE to be hardly solved. One could overcome this problem by a proper coordinate transformation. In this paper considering the capability of output feedback to remove outer layer of kinematic and direct control the output dynamics, this problem is handled. Simulation results for a mathematical model and a wheeled mobile robot easily verify the efficiency and satisfactory performance of the proposed controller.