Robust control of mobile robots using the computed torque plus H∞ compensation method

2004 ◽  
Author(s):  
M.J. Yazdanpanah ◽  
G. KarimianKhosrowshahi
Keyword(s):  
Robust Control ◽  
Mobile Robots ◽  
Compensation Method ◽  
Computed Torque

scholarly journals An addendum on “Robust control of robots by the computed torque method”

1992 ◽  
Vol 18 (5) ◽  
pp. 403-407 ◽  
Author(s):  
Harry Berghuis ◽  
Henk Nijmeijer ◽  
Peter Löhnberg
Keyword(s):  
Robust Control ◽  
Computed Torque

scholarly journals Wheeled mobile robot design with robustness properties

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774525 ◽  
Author(s):  
Yung Yue Chen ◽  
Yung Hsiang Chen ◽  
Chiung Yau Huang
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Control Design ◽  
Wheeled Mobile Robot ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Modeling Uncertainties ◽  
Nonlinear Robust

A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling uncertainties. The main contribution of this investigation is as follows. Under the effects of modeling uncertainties, an effective control design which can quickly converge tracking errors between the controlled wheeled mobile robot and the desired trajectory is derived mathematically. Generally, it is difficult to develop a nonlinear robust control design for the trajectory tracking problem of wheeled mobile robots due to the complexity and nonlinearity of the wheeled mobile robots’ dynamics. Fortunately, based on a series analysis for the tracking error dynamics of the controlled wheeled mobile robot, one promising solution is obtained. For verifying the trajectory tracking performance of this proposed method, two scenarios are utilized in the simulations and the practical tests.

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