2008 IEEE Conference on Robotics, Automation and Mechatronics 2008
DOI: 10.1109/ramech.2008.4681452
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Modeling and H Robust Control for Mobile Robot

Abstract: Based on kinematic and kinetic analyses of the 3-Degree of Freedom differentially driven wheels mobile robot, we proposed a nonlinear mathematical model with uncertain disturbance. This model was transformed into linear control systems through an approximate linearization algorithm, which is based on balanced flow pattern. After that, we designed a partial feedback Ho0 robust controller based on LMI for the robots. The efficiency of our method received supports from the simulation results.

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Cited by 6 publications
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