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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 43197 (05)
- University: Sharif University of Technology
- Department: Electrical Engineering
- Advisor(s): Namvar, Mehrzad
- Abstract:
- Wheeled mobile robots form a subcategory of mobile robots and are usually accompanied with geometric constraints on their velocities. These constraints do not allow the robots to move in any path that only does not collide with obstacles, in order to move from one point to another. On the other hand, the nonlinear nature of these systems make their control difficult. A general approach in motion planning and control for mobile robots is using standard forms equivalent to their state equations; Usually, solving motion planning and control problems for these forms is easier than that of the original system. Also,the mentioned problems are more prospective to have a systematic solution for these forms. The chained form is one of the standard forms equivalent to the kinematic model of many wheeled mobile robots. This form is physically similar to the kinematic models to some extent. Based on the chained form, a framework and method for desiging controllers with the objective of point stabilization of these robots is presented in this thesis. Besides exponential stability of the closed-loop system, the controller obtained from the proposed method achieves a mixed H2–H∞ performance. Linear matrix inequalities play a key role in the design procedure.
Using H2–H∞ theory for linear time-varying systems, a necessary and sufficient condition for point stabilization and mixed performance is proposed based on differential linear matrix inequalities. A sufficient condition involving only time-invariant linear matrix inequalities is also proposed for these two objectives. The feasibility problem associated with these time-invariant inequalities can be solved with the aid of various software packages.
Another feature of the proposed method is considering constraints on some of the velocities of the original system (wheeled mobile robot) - Keywords:
- Nonholonomic System ; Locomotion Control ; Linear Matrix Inequality (LMI) ; Wheeled Mobile Robot ; Mixed H2-H& Performance
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