Robust Control Of Wheeled Mobile Robot Based On LMI

Since robots can be regarded as an effective extension of man's motor ability, it is sure to be indispensable in the course of recognition and exploration of the world. Due to its important role in theory and application, motion control of mobile robots have been given enough attention by researcher in the world.In recent years, there are two main problems being focused. The one is problem of motion control for nonholonomic wheeled mobile robot, the other is anti interference in mobile robot's motion. The former has huge challenge for nonholonomic constraints in the course of motion, and the difficulty of the latter is the uncertainties. These problems are all deeply and systemically studied. The main contributions are given as follows:1. The motion model of wheeled mobile robots with nonholonomic constraints is built, and the model has been linearilized Via state feedback exact linearization. The motion control of WMR can be studied using the model.2. It is well known that the control problems of wheeled mobile robots are complicated due to nonholonomic constraints in the course of motion. A robust output feedback controller is designed using linear matrix inequality. At the same time, the stability of system, the existing condition of output feedback and the approach to controller design are presented.3. The order of H?controller is usually higher, but we hope that the order of controller is lower for the realization of hardware and the reliability of software in engineering application. A reduced-order H" controller is designed according to linear matrix inequality approach.4. Observer-based controller is widely accepted for its simple structure and explicit physical meaning. The LMI method to design H" controller under the assumption of observer-based type is studied. The controller parameters can be derived from three LMIs.5. The simulation results show the effectiveness of the proposed control method.