- Tytuł:
- Experimental verification of H∞ control with examples of the movement of a wheeled robot
- Autorzy:
-
Hendzel, Zenon
Penar, Paweł - Powiązania:
- https://bibliotekanauki.pl/articles/2086871.pdf
- Data publikacji:
- 2021
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
differential game
H∞ control
wheeled mobile robot
gry różniczkowe
sterowanie H∞
kołowy robot mobilny - Opis:
- The paper presents the results of experimental verification on using a zero-sum differential game and H∞ control in the problems of tracking and stabilizing motion of a wheeled mobile robot (WMR). It is a new approach to the synthesis of input-output systems based on the theory of dissipative systems in the sense of the possibility of their practical application. This paper expands upon the problem of optimal control of a nonlinear, nonholonomic wheeled mobile robot by including the reduced impact of changing operating condtions and possible disturbances of the robot’s complex motion. The proposed approach is based on the H∞ control theory and the control is generated by the neural approximation solution to the Hamilton-Jacobi-Isaacs equation. Our verification experiments confirm that the H∞ condition is met for reduced impact of disturbances in the task of tracking and stabilizing the robot motion in the form of changing operating conditions and other disturbances, which made it possible to achieve high accuracy of motion.
- Źródło:
-
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 6; e139390, 1--12
0239-7528 - Pojawia się w:
- Bulletin of the Polish Academy of Sciences. Technical Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł