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Robust Position Control for Two Wheels Mobile Robotic System

Jakub Osuský(1*), Jordan Kralev(2), Tsonyo Slavov(3)

(1) Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava, Slovakia
(2) Department of Systems and Control, Technical University of Sofia, Bulgaria
(3) Department of Systems and Control at the Technical University of Sofia, Bulgaria
(*) Corresponding author


DOI: https://doi.org/10.15866/ireaco.v8i4.7046

Abstract


Robust control has proven to be successful nonlinear plant control in many engineering applications. This paper presents robust controller design method for trajectory tracking two wheels mobile robotic system. Aim of the paper is to ensure stability and performance also by uncertainties, which can be presented as road undulation or side wind by outside operation. The proposed method is based on the Small Gain Theory and known M-delta structure of a closed loop system in the frequency domain. An example illustrate effectiveness of the proposed control for uncertain model of two wheels mobile robotic system, which can track the reference trajectory also by uncertainty present, however with lower performance.
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Keywords


Robust Control; Small Gain Theorem; Frequency Domain; Two Wheels Mobile Robot

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References


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