Robust Position Control for Two Wheels Mobile Robotic System
| العنوان: | Robust Position Control for Two Wheels Mobile Robotic System |
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| المؤلفون: | Jordan Kralev, Tsonyo Slavov, Jakub Osuský |
| المصدر: | Scopus-Elsevier |
| بيانات النشر: | Praise Worthy Prize, 2015. |
| سنة النشر: | 2015 |
| مصطلحات موضوعية: | Engineering, business.industry, Stability (learning theory), Control engineering, Tracking (particle physics), Track (rail transport), Small-gain theorem, Nonlinear system, Control and Systems Engineering, Control theory, Frequency domain, Trajectory, Robust control, business |
| الوصف: | Robust control has proven to be successful nonlinear plant control in many engineering applications. This paper presents robust controller design method for trajectory tracking two wheels mobile robotic system. Aim of the paper is to ensure stability and performance also by uncertainties, which can be presented as road undulation or side wind by outside operation. The proposed method is based on the Small Gain Theory and known M-delta structure of a closed loop system in the frequency domain. An example illustrate effectiveness of the proposed control for uncertain model of two wheels mobile robotic system, which can track the reference trajectory also by uncertainty present, however with lower performance. |
| تدمد: | 2533-2260 1974-6059 |
| الوصول الحر: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::cd82ada0f8e8676f15c3e69bd9cfccebTest https://doi.org/10.15866/ireaco.v8i4.7046Test |
| رقم الانضمام: | edsair.doi.dedup.....cd82ada0f8e8676f15c3e69bd9cfcceb |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 25332260 19746059 |
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