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Master's Dissertation
DOI
10.11606/D.18.2017.tde-15052017-154019
Document
Author
Full name
Gilson Antonio dos Reis
Institute/School/College
Knowledge Area
Date of Defense
Published
São Carlos, 2005
Supervisor
Committee
Terra, Marco Henrique (President)
Costa, Ramon Romankevicius
Siqueira, Adriano Almeida Gonçalves
Title in Portuguese
Controle H∞ não linear de robôs móveis com rodas
Keywords in Portuguese
Controle H∞ não linear
Robôs móveis com rodas
Abstract in Portuguese
Este trabalho apresenta o projeto de dois controladores robustos, baseados no critério H∞ não linear, para o acompanhamento de trajetória de robôs móveis com rodas (RMRs). Estes controladores estabilizam o sistema em malha fechada e garantem que a norma L2 induzida entre os sinais de entrada (distúrbios) e saída seja limitada por um nível de atenuação γ > 0. Para o projeto, as equações dinâmicas não lineares do robô são descritas na forma quase linear a parâmetros variantes (quase-LPV), sendo os parâmetros parte do estado. Os controladores são resolvidos via desigualdades matriciais lineares (DMLs) e equações algébricas de Ricatti (EAR). Resultados em simulação com um estudo comparativo entre essas duas estratégias de controle e um controlador proporcional derivativo (PD) em conjunto com um controlador do tipo torque calculado são apresentados. Além disso, a implementação de dois métodos de localização de RMRs através de imagens é realizada.
Title in English
Nonlinear H∞ control of wheeled mobile robots
Keywords in English
Nonlinear H∞ control
Wheeled mobile robots
Abstract in English
This work presents the design of two robust controllers, based on nonlinear H∞ approach, for tracking trajectory of wheeled mobile robots (WMRs). These controllers stabilize the close-loop system and guarantee that induced L2 norm between input (disturbances) and output signals be bounded by an attenuation level γ > 0. For the design, the nonlinear dynamic equations of the robot are described in quasi linear parameter varying (quasi-LPV) form being the parameters part of the states. The controllers are solved via linear matrix inequalities (LMIs) and algebraic Riccati equation (ARE). Simulation results with a comparison study among these two control strategies and a proportional-derivative (PD) controller plus calculated torque are presented. Moreover, implementation of two methods of localization of WMRs based on images is accomplished.
 
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Publishing Date
2017-05-15
 
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