Robust Control-based Controller Design for Mobile Robot

SCAGLIA, G.; MUT, V.; JORDAN, MARIO; CALVO, C.; QUINTEROS, L.

Journal of Engineering Mathematics

Springer Netherlands

Lugar: http://www.springer.com/?SGWID=0-102-0-0-0; Año: 2009 vol. 63 p. 17 - 32

0022-0833

The control of a mobile robot using a linear model with uncertainty for design purposes is investigated. The uncertainty arises from the variation of the operation point of the mobile robot. The Robust Control Theory is used for the controller design, which allows dealing with systems whose parameters may vary between certain bounds. The proposed controller has shown, in experimentation tests, an acceptable performance and an easy and simple practical implementation. Also, an application of the proposed controller to a leader-following problem is shown; in it, the relative position between robots is obtained through a laser.