Multi-objective Mobile Robotics Robust Tracking Control
| Autor: | Yu-Te Chang, 昌育德 |
|---|---|
| Rok vydání: | 2004 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 92 In the study we consider the model of the mobile robot from kinematical behavior to design the kinematical tracking controller by using the Lyapunov stability theorem. These kinematical controllers are proposed in terms of asymptotically and almost exponentially stable. Dynamic model of the mobile robot is studied with consideration of the model uncertainty. Therefore, the proposed combination of kinematical and robust dynamical tracking controllers in the thesis is more suitable for wheeled vehicle systems with uncertainties and external disturbance. We attempt to combine the Hinf control and L1 control to guarantee a robust tracking performance for mobile robot control systems with uncertain. The shaping method on the inputs of mobile robots is implemented for practical reason. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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