Trajectory Tracking Robust Control for Two Wheels Robot

被引：0
|
作者：
Osusky, Jakub [1 ]
Ciganek, Jan [1 ]
机构：
[1] Slovak Univ Technol Bratislava, Inst Automot Mechatron, Fac Elect Engn & Informat Technol, Bratislava, Slovakia
来源：
2018 CYBERNETICS & INFORMATICS (K&I) | 2018年
关键词：
robust control; Small Gain Theorem; frequency domain; two wheels mobile robot;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
Robust control was many times successfully used for nonlinear plant control in engineering applications. In this paper robust controller design method for trajectory tracking two wheels mobile robotic system is presented. The proposed method is based on the Small Gain Theory and known M-delta structure of a closed loop system in the frequency domain. Simulation example illustrating effectiveness of the proposed control for uncertain model of two wheels mobile robotic system is included
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页数：4
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