Tracking control for wheeled mobile robot based on delayed sensor measurements

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

Povzetek

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.

Ključne besede

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

Podatki

Jezik:	Angleški jezik
Leto izida:	2019
Tipologija:	1.01 - Izvirni znanstveni članek
Organizacija:	UL FE - Fakulteta za elektrotehniko
UDK:	007.52
COBISS:	12753748
ISSN:	1424-8220
Št. ogledov:	214
Št. prenosov:	74
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Slovenski jezik
Sekundarne ključne besede:	zakasnjene senzorske meritve;neholonomični mobilni robot;prediktor observator;PDC vodenje;sledenje trajektoriji;
Vrsta dela (COBISS):	Članek v reviji
Strani:	str. 1-21
Letnik:	ǂiss. ǂ23
Zvezek:	5177
Čas izdaje:	Dec.1 2019
DOI:	10.3390/s19235177
ID:	13918254