scholarly journals Guaranteed Cost Nonfragile Robust Controller for Walking Simulation of Quadruped Search Robot on a Slope of VRML Model

2014 ◽  
Vol 6 ◽  
pp. 948795
Author(s):  
Peng Wang ◽  
Jixiang Li ◽  
Yuan Zhang
Keyword(s):  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Modeling Language ◽  
Displacement Curve ◽  
Model Structure ◽  
Matrix Inequality ◽  
Matrix Inequalities ◽  
Robust Controller ◽  
3D Terrain ◽  
Guaranteed Cost

The problem of walking simulation for the quadruped search robot on a slope is described as an uncertainty system. In order to create the virtual ramp road environment, VRML modeling language is used to build a real environment, which is a 3D terrain scene in Matlab platform. According to the VRML model structure of the quadruped search robot, a guaranteed cost nonfragile robust controller is designed for ramp road walking simulation. The constraint inequation is transformed into a strict linear inequality by using two equalities; the controller and the guaranteed cost upper bound are given based on the solutions of the linear matrix inequality. And the approaches of designing the controller are given in terms of linear matrix inequalities. The walking stability of quadruped search robot is observed using the VRML model established with the change of gravity curve. Simulation results show that the gravity displacement curve of the robot is smooth. The results given by linear matrix inequalities indicate that the proposed guaranteed cost controller is correct and effective.

scholarly journals Guaranteed Cost Nonfragile Robust Controller for Walking Simulation of Quadruped Search Robot on a Slope of VRML Model

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Peng Wang ◽  
Jixiang Li ◽  
Yuan Zhang
Keyword(s):  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Modeling Language ◽  
Displacement Curve ◽  
Model Structure ◽  
Matrix Inequality ◽  
Matrix Inequalities ◽  
Robust Controller ◽  
3D Terrain ◽  
Guaranteed Cost

The problem of walking simulation for the quadruped search robot on a slope is described as an uncertainty system. In order to create the virtual ramp road environment, VRML modeling language is used to build a real environment, which is a 3D terrain scene in Matlab platform. According to the VRML model structure of the quadruped search robot, a guaranteed cost nonfragile robust controller is designed for ramp road walking simulation. The constraint inequation is transformed into a strict linear inequality by using two equalities; the controller and the guaranteed cost upper bound are given based on the solutions of the linear matrix inequality. And the approaches of designing the controller are given in terms of linear matrix inequalities. The walking stability of quadruped search robot is observed using the VRML model established with the change of gravity curve. Simulation results show that the gravity displacement curve of the robot is smooth. The results given by linear matrix inequalities indicate that the proposed guaranteed cost controller is correct and effective.

The Application of Linear Algebra Algorithm in the Production of Linear Matrix Inequalities

2012 ◽  
Vol 192 ◽  
pp. 406-411
Author(s):  
Hui Zhang
Keyword(s):  
Problem Solving ◽  
Linear Algebra ◽  
Linear Matrix Inequalities ◽  
Polynomial Matrix ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Matrix Inequalities ◽  
Application System ◽  
And Control ◽  
Problem Data

Discusses the theory and symbolic of the algorithm gives another potential application, but also in the system and control. For example, for the question, has made with special structure, but LMI problem data, may cause factorizations LMI more compact. One can even imagine using the algorithm around, looking for the opportunity to LMI automatic eliminate variables, so simplify problem solving, before they get a lot of influence and a potential solutions. We describe theory, the algorithm can be used to factor in the non commuting variable polynomial matrix and application system switches and control problem into a linear matrix inequality.

Robust controller synthesis via non-linear matrix inequalities

1999 ◽  
Vol 72 (11) ◽  
pp. 971-980 ◽  
Author(s):  
Emmanuel G. Collins ◽  
Debashis Sadhukhan ◽  
Layne T. Watson
Keyword(s):  
Linear Matrix Inequalities ◽  
Controller Synthesis ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Robust Controller ◽  
Non Linear

scholarly journals Synthesis of Decentralized Variable Gain Robust Controllers with GuaranteedL2Gain Performance for a Class of Uncertain Large-Scale Interconnected Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shunya Nagai ◽  
Hidetoshi Oya
Keyword(s):  
Linear Matrix Inequalities ◽  
Large Scale ◽  
Sufficient Conditions ◽  
Matching Condition ◽  
Interconnected Systems ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Robust Controller ◽  
Interconnected System ◽  
Variable Gain

We consider a design problem of a decentralized variable gain robust controller with guaranteedL2gain performance for a class of uncertain large-scale interconnected systems. For the uncertain large-scale interconnected system, the uncertainties and the interactions satisfy the matching condition. In this paper, we show that sufficient conditions for the existence of the proposed decentralized variable gain robust controller with guaranteedL2gain performance are given in terms of linear matrix inequalities (LMIs). Finally, simple illustrative examples are shown.

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