Discrete PDC control design with observer for trajectory tracking of non-holonomic mobile robot

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• 作者：El-H. Guechi^* ; ^{el-hadi.guechi@univ-valenciennes.fr" class="auth_mail" title="E-mail the corresponding author} ; J. Lauber^* ; ^{jimmy.lauber@univ-valenciennes.fr" class="auth_mail" title="E-mail the corresponding author} ; M. Dambrine^* ; ^{michel.dambrine@univ-valenciennes.fr" class="auth_mail" title="E-mail the corresponding author} ; G. Klančar^** ; ^{gregor.klancar@fe.uni-lj.si" class="auth_mail" title="E-mail the corresponding author} ; S. Blažič^** ; ^{saso.blazic@fe.uni-lj.si" class="auth_mail" title="E-mail the corresponding author}
• 关键词：PDC control ; Discrete TS fuzzy model ; Trajectory tracking ; Non-holonomic mobile robot
• 刊名：IFAC-PapersOnLine
• 出版年：2009
• 出版时间：2009
• 年：2009
• 卷：42
• 期：19
• 页码：170-175
• 全文大小：181 K

文摘

This paper presents a new technique for tracking-error model-based discrete PDC control for non-holonomic mobile robot. This technique consists in rewriting the discrete kinematic error-model of the tracking problem for mobile robot into a discrete TS fuzzy representation and finding a stabilizing controller by solving LMI conditions for tracking-error model in the discrete case. The state variables are filtered using discrete TS fuzzy observer in order to reject perturbations. The reference trajectory is composed by two C³ Bezier curves in order to obtain an ellipse like shape with respect to acceleration limits of the mobile robot. The experimental results are presented here to show the efficiency of the proposed approach.