Optimal Linear State Feedback Time-Varying Regulator for a Unicycle Mobile Robot

2008 ◽  
Author(s):  
Elvira Rafikova ◽  
Paulo R. G. Kurka ◽  
Marat Rafikov
Keyword(s):  
Mobile Robot ◽  
State Feedback ◽  
Control Design ◽  
State Feedback Control ◽  
Optimal Time ◽  
Control Law ◽  
Time Varying ◽  
Optimal Linear ◽  
Linear State ◽  
Feedback Time

This paper proposes an optimal time-varying linear state feedback control for wheeled mobile robot of the unicycle type. The control law that stabilizes exponentially the motion of the robot to a given desired trajectory is found, after transformation of the cinematic model of the robot into a well-known Brocket integrator [1]. Numerical simulations are presented in order to demonstrate the effectiveness of the proposed control design.

Robust Absolute Stabilization of Time-Varying Delay Systems with Maximum Admissible Perturbed Bound

2010 ◽  
Vol 40-41 ◽  
pp. 103-110
Author(s):  
Jie Jin
Keyword(s):  
State Feedback ◽  
State Feedback Control ◽  
Delay Systems ◽  
Linear Matrix ◽  
Control Law ◽  
Time Varying ◽  
Time Varying Delay ◽  
Linear State ◽  
Varying Delay ◽  
Nonlinear Delay

This paper is concerned the problem of robust absolute stabilization of time-varying delay systems with admissible perturbation in terms of integral inequality. A linear state-feedback control law is derived for one class of delay systems with sector restriction based on linear matrix inequality (LMI). Especially, this method does not require input terms are absolutely controllable for nonlinear delay systems. Numerical example is used to demonstrate the validity of the proposed method.

Stabilizing Controllers for Uncertain Linear Saturating Systems With Additive Disturbances

1991 ◽  
Vol 113 (2) ◽  
pp. 334-336 ◽  
Author(s):  
Jyh-Horng Chou ◽  
Ing-Rong Horng
Keyword(s):  
State Feedback ◽  
Uncertain System ◽  
Lyapunov Equation ◽  
Upper Bounds ◽  
State Feedback Control ◽  
System Response ◽  
Control Law ◽  
Time Varying ◽  
Stabilizing Controllers ◽  
Linear State

In this technical brief, the stabilization of an uncertain system with a saturating actuator and an additive disturbance is discussed. The uncertainties and the additive disturbances may be linear, nonlinear, and/or time-varying, but only the upper bounds are assumed known. A linear state feedback control law stabilizes the uncertain system with additive disturbance, and guarantees that, ultimately, the system response lies in a neighborhood of the origin. But the neighborhood cannot be arbitrarily made small by the linear state feedback controller. The proposed approach does not need the solution of a Lyapunov equation or a Riccati equation, therefore the computational burden can be decreased. An example illustrates the application of the proposed method.

State Feedback Control to Track a Moving Object for a Non-Holonomic Mobile Robot

2010 ◽  
Vol 44-47 ◽  
pp. 646-650 ◽  
Author(s):  
Yan Cui Hui ◽  
Yi Qiang Peng ◽  
Xian Ye
Keyword(s):  
Feedback Control ◽  
Velocity Profile ◽  
Mobile Robot ◽  
Control Algorithm ◽  
State Feedback ◽  
Moving Object ◽  
State Feedback Control ◽  
Time Varying ◽  
Holonomic Robot ◽  
Holonomic Mobile Robot

In this paper, a state feedback control algorithm for non-holonomic robot to track a moving object is described. In order to generate continuous velocity profile, some independent time varying functions are introduced for calculation the state feedback variables. The simulation of the control algorithm is implemented with MATLAB. The results shows that, with the designed state feedback control algorithm, the wheeled mobile robot can track a moving object and the trajectory is also reasonable.

scholarly journals Robust H∞ stabilisation with definite attenuance of an uncertain impulsive switche system

2005 ◽  
Vol 46 (4) ◽  
pp. 471-484 ◽  
Author(s):  
Honglei Xu ◽  
Xinzhi Liu ◽  
Kok Lay Teo
Keyword(s):  
Feedback Control ◽  
Switched Systems ◽  
State Feedback ◽  
The State ◽  
State Feedback Control ◽  
State Model ◽  
Control Law ◽  
Time Varying ◽  
Impulsive Switched Systems ◽  
Bounded Uncertainty

AbstractIn this paper, we study the problem of robust H∞ stabilisation with definite attenuance for a class of impulsive switched systems with time-varying uncertainty. A norm-bounded uncertainty is assumed to appear in all the matrices of the state model. An LMI-based method for robust· H∞ stabilisation with definite attenuance via a state feedback control law is developed. A simulation example is presented to demonstrate the effectiveness of the proposed method.

Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control

1999 ◽  
Vol 121 (1) ◽  
pp. 121-126 ◽  
Author(s):  
A. Astolfi
Keyword(s):  
Mobile Robot ◽  
State Feedback ◽  
Wheeled Mobile Robot ◽  
State Feedback Control ◽  
Exponential Stabilization ◽  
Control Law ◽  
Model Errors ◽  
Closed Loop System ◽  
Noisy Measurements ◽  
Time Invariant

In the present work the problem of exponential stabilization of the kinematic and dynamic model of a simple wheeled mobile robot is addressed and solved using a discontinuous, bounded, time invariant, state feedback control law. The properties of the closed-loop system are studied in detail and its performance in presence of model errors and noisy measurements are evaluated and discussed.

scholarly journals An Offline Formulation of MPC for LPV Systems Using Linear Matrix Inequalities

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
P. Bumroongsri
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Control Law ◽  
Time Varying ◽  
Control Laws ◽  
Lpv Systems ◽  
Parameter Dependent ◽  
Dependent State

An offline model predictive control (MPC) algorithm for linear parameter varying (LPV) systems is presented. The main contribution is to develop an offline MPC algorithm for LPV systems that can deal with both time-varying scheduling parameter and persistent disturbance. The norm-bounding technique is used to derive an offline MPC algorithm based on the parameter-dependent state feedback control law and the parameter-dependent Lyapunov functions. The online computational time is reduced by solving offline the linear matrix inequality (LMI) optimization problems to find the sequences of explicit state feedback control laws. At each sampling instant, a parameter-dependent state feedback control law is computed by linear interpolation between the precomputed state feedback control laws. The algorithm is illustrated with two examples. The results show that robust stability can be ensured in the presence of both time-varying scheduling parameter and persistent disturbance.

Sign in / Sign up

Export Citation Format

Share Document