A deterministic robust control with parameter optimization for uncertain two-wheel driven mobile robot.
ISA Trans
; 146: 29-41, 2024 Mar.
Article
em En
| MEDLINE
| ID: mdl-38104021
ABSTRACT
The uncertainty in mobile robot greatly affects control accuracy. This makes it difficult to apply to more rigorous high-precision engineering fields. Therefore, the fuzzy set theory is introduced to describe the uncertainty. Based on that, the fuzzy mobile robot system is established. The virtual speed controller using backstepping method is designed. Then, a robust control method is proposed to guarantee the uniform boundedness and uniform ultimate boundedness of the controlled system. Furthermore, the balance optimization problem of the performance and cost of the controlled system is explored. By minimizing the performance index containing fuzzy numbers, the optimal control parameter is obtained. Compared with the linear quadratic regulator algorithm, which is the representative optimal robust controller, the proposed control method and optimization strategy based on fuzzy set theory are verified to be effective. The control accuracy is further improved.
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Coleções:
01-internacional
Base de dados:
MEDLINE
Idioma:
En
Revista:
ISA Trans
Ano de publicação:
2024
Tipo de documento:
Article