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linear parameter varying systems

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Experimental results on the nonlinear ∞ control via quasi-LPV representation and game theory for wheeled mobile robots
Roberto S. Inoue, Adriano A. G. Siqueira, Marco H. Terra
Journal:

Robotica / Volume 27 / Issue 4 / July 2009

Published online by Cambridge University Press:

01 July 2009, pp. 547-553
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In this paper, nonlinear dynamic equations of a wheeled mobile robot are described in the state-space form where the parameters are part of the state (angular velocities of the wheels). This representation, known as quasi-linear parameter varying, is useful for control designs based on nonlinear ∞ approaches. Two nonlinear ∞ controllers that guarantee induced 2-norm, between input (disturbances) and output signals, bounded by an attenuation level γ, are used to control a wheeled mobile robot. These controllers are solved via linear matrix inequalities and algebraic Riccati equation. Experimental results are presented, with a comparative study among these robust control strategies and the standard computed torque, plus proportional-derivative, controller.