Abstract：In order to optimize the trajectory tracking performance of wheeled mobile robots with unknown parameter uncertainties, a robust proportional-integral (PI) control algorithm based convex optimization techniques is proposed in this paper. Instead of debugging repeatedly or depending on experience to obtain PI control gains, an LMI-based PI feedback controller is designed to ensure the system stability and convergence of the tracking error of line velocity and angular velocity to zero. Moreover, by combining the L1 optimization index, the satisfactory robustness can also be achieved based on the designed optimization algorithm. Finally, simulation results demonstrate that the proposed method is simple, efficient and is also suitable for practical trajectory tracking control of wheeled mobile robots system.
孙小康. 基于凸优化算法的参数不确定轮式移动机器人鲁棒PI控制[J]. 电气技术, 2018, 19(7): 47-52.
Sun Xiaokang. Robust PI control based on convex optimization algorithm for wheeled mobile robot with parameter uncertainties. Electrical Engineering, 2018, 19(7): 47-52.
2018, Vol. 19 
