Adaptive H∞ control of nonholonomic mobile robot based on inverse optimality | IEEE Conference Publication | IEEE Xplore

Adaptive H∞ control of nonholonomic mobile robot based on inverse optimality


Abstract:

This paper deals with the problem of constructing adaptive trajectory control scheme of nonholonomic mobile robots based on Hinfin control strategy. Both kinematics contr...Show More

Abstract:

This paper deals with the problem of constructing adaptive trajectory control scheme of nonholonomic mobile robots based on Hinfin control strategy. Both kinematics control laws and dynamics control ones are developed based on Hinfin criterion and for processes with unknown parameters. It is shown that the resulting control signals are derived as solutions of certain Hinfin control problems where tracking errors of controlled velocities and estimation errors of tuning parameters are regarded as external disturbances to control systems.
Date of Conference: 11-13 June 2008
Date Added to IEEE Xplore: 05 August 2008
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Conference Location: Seattle, WA, USA

References

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