Interval PI velocity control of a non-holonomic mobile robot

被引：0
|
作者：
Vehí, J [1 ]
Figueras, A [1 ]
Luo, NS [1 ]
机构：
[1] Univ Girona, Inst Informat & Aplicac, E-17071 Girona, Spain
来源：
DIGITAL CONTROL: PAST, PRESENT AND FUTURE OF PID CONTROL | 2000年
关键词：
model-based control; PID control; robust performance; interval analysis; interval control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Feedforward and feedback control laws based on dynamic models axe widely used to enhance the dynamic performance of many dynamical systems like industrial and mobile robots. The main problem of model-based control schemes is that it is assumed that the model is accurate, but the estimation of dynamical parameters as static or dynamic friction axe difficult. A new control scheme based on interval models is to be proposed in this paper. The new control law is and interval function which is obtained and computed using interval analysis. The design and implementation an interval model based PI controller is presented through the example of a non-holonomic mobile robot. Copyright (C) 2000 IFAC.
引用
收藏
页码：379 / 383
页数：5
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