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In this paper, motion control and stabilization of a 4-wheel skid-steering mobile robot (4WSSMR) are studied. A ratio controller which has been successfully applied in the chemical industry is designed to limit the vehicle lateral skid. Motion stability is guaranteed by generating an appropriate steering action (driving bias in left and right wheels) according to the states of the vehicle. A model...
This paper proposes an LMI-based design algorithm for saturating output feedback controllers that are robust with respect to parametric uncertainties in the system model. The algorithm is based on the determination of a feasible solution by solving a conservative relaxation of the problem. This feasible solution is then optimized using a procedure known as path following, which sequentially optimizes...
The analysis of the EKF error sequence in is expanded to the case with non-vanishing perturbations. The robust stability of NMPC and EKF pair is established. In addition, we propose an output-feedback NMPC formulation based on both the prior and posterior errors of the EKF to achieve offset-free regulatory control behavior.
This paper aims to present a new architecture of control law called multi-model controller. Indeed, it uses constant linear models as with a classical TS approach, but the interpolation between the models is adaptive based on an observer structure. A comparison with an output TS feedback controller for uncertain models shows the interest of the proposed method.
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