Robust H-infinity Control of Intelligent Autonomous Navigation Wheelchair

被引：1

作者：

Cao, Fucheng ^{[1
]}

Wang, Xianwei ^{[1
]}

Shi, Jixia ^{[2
]}

机构：

[1] Changchun Univ, Coll Elect Informat & Engn, Changchun 130022, Peoples R China

[2] China FAW Grp Corpo R&D Ctr, Sci Res Dept, Changchun 130011, Peoples R China

来源：

2013 IEEE NINTH INTERNATIONAL CONFERENCE ON MOBILE AD-HOC AND SENSOR NETWORKS (MSN 2013) | 2013年

关键词：

D O I：

10.1109/MSN.2013.106

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a robust control for a two-wheeled intelligent wheelchair using H-infinity (H-infinity) control scheme in the presence of uncertainties. An optimal H-infinity controller design is given based on an iterative linear matrix inequality algorithm, which is robust to variance of the motor dynamics, sensor noise, and unmodeled vehicle dynamics. Finally, the simulation experiments show the effectiveness of the proposed scheme.

引用

页码：461 / 464

页数：4

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