کنفرانس مهندسی برق ایران

صفحه اصلی / بیست و نهمین کنفرانس مهندسی برق ایران

LPV Controller Design for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots in the Presence of Slip

نویسندگان :

Mohammad Sabouri¹ Mohammad Hassan Asemani²

1- Department of Power and Control Engineering Applied Control & Robotics Research Laboratory, Shiraz University Shiraz, Iran 2- Department of Power and Control Engineering Applied Control & Robotics Research Laboratory, Shiraz University Shiraz, Iran

کلمات کلیدی :

linear parameter varying, lpv, linear matrix inequalities, wheeled mobile robot, trajectory tracking control, slip, kinematic controller, tracking error.

چکیده :

Wheeled Mobile Robots (WMR) are often used to move and work in off-road environments, often unstructured. The robots' operation in these environments was disrupted due to the ground's unevenness, and slippage occurs. Slipping compared to moving wheel robots at normal levels causes large accumulated errors in the robot's position. Therefore, diagnosing the amount of wheel slip is necessary to improve the robot's movement control. This paper presents an LPV controller with an LPV observer that allows the robot to track the path if there is uncertainty due to the kinematic model's linearization and the occurrence of an unknown longitudinal slip. To evaluate the proposed method's performance, the controller and observer are designed by solving a set of linear matrix inequalities (LMIs) and are simulated in MATLAB software, and superior tracking results are presented.