Experimental verification of H∞ control with examples of the movement of a wheeled robot

• Autorzy: Hendzel Zenon , Penar Paweł

Identyfikatory

DOI

10.24425/bpasts.2021.139390

• Języki publikacji: EN

Abstrakty

EN

The paper presents the results of experimental verification on using a zero-sum differential game and H∞ control in the problems of tracking and stabilizing motion of a wheeled mobile robot (WMR). It is a new approach to the synthesis of input-output systems based on the theory of dissipative systems in the sense of the possibility of their practical application. This paper expands upon the problem of optimal control of a nonlinear, nonholonomic wheeled mobile robot by including the reduced impact of changing operating condtions and possible disturbances of the robot’s complex motion. The proposed approach is based on the H∞ control theory and the control is generated by the neural approximation solution to the Hamilton-Jacobi-Isaacs equation. Our verification experiments confirm that the H∞ condition is met for reduced impact of disturbances in the task of tracking and stabilizing the robot motion in the form of changing operating conditions and other disturbances, which made it possible to achieve high accuracy of motion.

Słowa kluczowe

EN

differential game; H∞ control; wheeled mobile robot

PL

gry różniczkowe; sterowanie H∞; kołowy robot mobilny

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2021
• Tom: Vol. 69, nr 6
• Strony: art. no. e139390
• Opis fizyczny: Bibliogr. 42 poz., fot., wykr., tab.

Twórcy

autor

Hendzel Zenon

• Department of Applied Mechanics and Robotics, Faculty of Mechanical Engineering and Aeronautics, Rzeszów University of Technology, ul. Powstańców Warszawy 12, 35-959 Rzeszów, Poland

• https://orcid.org/0000-0002-0944-6581

autor

Penar Paweł

• Department of Applied Mechanics and Robotics, Faculty of Mechanical Engineering and Aeronautics, Rzeszów University of Technology, ul. Powstańców Warszawy 12, 35-959 Rzeszów, Poland

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).