Robust H-infinity (Haz) Stabilization of Uncertain Wheeled Mobile Robots

Dr. A.Dolly Mary; Abraham T. Mathew; Jeevamma Jacob

Robust H-infinity (Haz) Stabilization of Uncertain Wheeled Mobile Robots

Dr. A.Dolly Mary * §

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Abraham T. Mathew

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Jeevamma Jacob

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National Institute of Technology, Calicut

Robust H-infinity (Haz) Stabilization of Uncertain Wheeled Mobile Robots

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Abstract

This paper proposes a robust H-infinity control design of a single unit differential type Wheeled Mobile Robot. Mobile robots are non holonomic systems as their constraint equations are not integrable. Considering the constraints and combining the kinematics and dynamics of the system, a linearized model is obtained. Taking into account the exogenous inputs in the form of model uncertainties and output disturbances, the augmented plant is formulated. The Hinfinity controller is designed such that the sensitivity of the closed loop system is minimised. The proposed design renders a robust controller such that the closed loop system is internally stable and the effect of disturbances and model uncertainties on some of the outputs is attenuated. Simulation results showing asymptotic stability plot, disturbance response and Robust Stability and Performance margins are found to be satisfactory.

References

12 Cites in Article

Reference Format

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Funding

No external funding was declared for this work.

Conflict of Interest

The authors declare no conflict of interest.

Ethical Approval

No ethics committee approval was required for this article type.

Data Availability

Not applicable for this article.

How to Cite This Article

Dr. A.Dolly Mary, Abraham T. Mathew, Jeevamma Jacob. 1970. "Robust H-infinity (Haz) Stabilization of Uncertain Wheeled Mobile Robots". Global Journal of Research in Engineering - F: Electrical & Electronic GJRE-F Volume 12 (GJRE Volume 12 Issue F1).

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GJRE Volume 12 Issue F1

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Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

Keywords

Disturbance rejection H∞ control robust control uncertain systems wheeled mobile robots

Classification

GJRE-F Classification FOR Code: 090602p

Submission ReceivedFebruary 9, 2012
Peer Review Double Blind
Handling Editor
Accepted March 3, 2012
Published March 15, 2012

Version of record

v1.2

Language

English

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Article Matrices

Total Score: 108

Country: India

Subject: Global Journal of Research in Engineering

Authors: Dr. A.Dolly Mary, Abraham T. Mathew, Jeevamma Jacob (PhD/Dr. count: 1)

View Count (all-time): 244

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Total Downloads (simulated): 254

Publish Date: 2012 03, Thu

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Total Views: 4.7K

Total Downloads: 254

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