Tracking control for wheeled mobile robot based on delayed sensor measurements

El-Hadi Guechi (Author), Karim Belharet (Author), Sašo Blažič (Author)

Abstract

This paper proposes a novel Takagi-Sugeno fuzzy predictor observer to tackle the problem of the constant and known delay in the measurements. The proposed observer is developed for a trajectory-tracking problem of a wheeled mobile robot where a parallel-distributed compensation control is used to control the robot. The L2-stability of the proposed observer is also proven in the paper. Both, the control and the observer gains are obtained by solving the proposed system of linear matrix inequalities. To illustrate the efficiency of the proposed approach, an experimental comparison with another predictor observer was done.

Keywords

zakasnjene senzorske meritve;neholonomični mobilni robot;prediktor observator;PDC vodenje;sledenje trajektoriji;delayed sensor measurements;nonholonomic mobile robot;predictor observer;PDC control;trajectory tracking;

Data

Language:	English
Year of publishing:	2019
Typology:	1.01 - Original Scientific Article
Organization:	UL FE - Faculty of Electrical Engineering
UDC:	007.52
COBISS:	12753748
ISSN:	1424-8220
Views:	214
Downloads:	74
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	Slovenian
Secondary keywords:	zakasnjene senzorske meritve;neholonomični mobilni robot;prediktor observator;PDC vodenje;sledenje trajektoriji;
Type (COBISS):	Article
Pages:	str. 1-21
Volume:	ǂiss. ǂ23
Issue:	5177
Chronology:	Dec.1 2019
DOI:	10.3390/s19235177
ID:	13918254