Electrical Engineering  2018, Vol. 19 Issue (7): 47-52    DOI:
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Robust PI control based on convex optimization algorithm for wheeled mobile robot with parameter uncertainties
Sun Xiaokang
Yangzhou Technical Vocational College, Yangzhou, Jiangsu 225000

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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.
Key wordswheeled mobile robots      trajectory tracking      robust control      convex optimization algorithm      parameter uncertainties     
Received: 15 November 2017      Published: 17 July 2018
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Sun Xiaokang
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Sun Xiaokang. Robust PI control based on convex optimization algorithm for wheeled mobile robot with parameter uncertainties[J]. Electrical Engineering, 2018, 19(7): 47-52.
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https://dqjs.cesmedia.cn/EN/Y2018/V19/I7/47
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