Adaptive H∞ control of nonholonomic systems based on inverse optimality and its application to mobile robot

被引：1

作者：

Miyasato, Yoshihiko ^{[1
]}

机构：

[1] Inst Stat Math, Dept Math Anal & Stat Inference, Tokyo 1068569, Japan

来源：

PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年

关键词：

D O I：

10.1109/CDC.2006.376696

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A design method of adaptive H-infinity control of uncertain nonholonomic systems is presented based on the notion of inverse optimality. The proposed methodology is applied to chained systems of high orders, and the controller designs by both state and output feedbacks are shown. The resulting control strategy is derived as a solution of certain H. control problem, where estimation errors of tuning parameters and adaptive observers are regarded as external disturbances to the process. The proposed methodology can be used to control mobile robots with uncertain measurement error.

引用

页码：3046 / 3051

页数：6

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