Adaptive Pole Placement for a MIMO Quasi-Linear Parameter Varying Mobile Robot

Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002

Volumn , Issue , 2002, Pages 590-595

  Tsourdos, Antonios ^a   Economou, John T ^a   White, Brian A ^a  

^a CRANFIELD UNIVERSITY   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

ACCELERATION; ACTUATORS; ADAPTIVE CONTROL SYSTEMS; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; CONTROL SYSTEMS; HEURISTIC METHODS; LYAPUNOV METHODS; MOTION CONTROL; NAVIGATION; NONLINEAR CONTROL SYSTEMS; OPTIMAL CONTROL SYSTEMS; PERTURBATION TECHNIQUES; ROBOTICS; TIME VARYING SYSTEMS; VEHICLES; GAIN CONTROL; POLYNOMIALS; SCHEDULING; SET THEORY; TORQUE CONTROL;

ADAPTIVE POLE PLACEMENT; CONTROL DESIGN METHODS; FEEDBACK CONTROL LAW; QUADRATIC STABILITY; GAIN SCHEDULING; LINEAR TIME-INVARIANT (LTI) CONTROL THEORY; PARAMETER VARYING SYSTEMS; QUASI-LINEAR CONTROL;

MOBILE ROBOTS;

EID: 2342430062     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (16)

1. E. W. Kamen T. E. Bullock and C. H. Song, "Adaptive control applied to missile autopilots", in Proceedings of American Control Conference, pp. 555-560, 1988.
2. C. F. Lin and J. R. Cloutier, "High performance, adaptive, robust bank-to-turn missile autopilot", in Proceedings of AIAA Guidance, Navigation, Control Conference, pp. 123-137, 1991.
3. A. Isidori, Nonlinear Control Systems: An Introduction, Springer-Verlag, 1989
4. D. A. Lawrence and W. J. Hugh, "Gain scheduling dynamic linear controllers for a linear plant", Automatica, vol. 31, pp. 381-390, 1995.
5. W. J. Rugh, "Analytical framework for gain scheduling", IEEE Control Systems Magazine, vol. 38, pp. 799-803, 1993.
6. nd IEEE Conf. on Decision and Control, pp. 1030-1035, 1993.
7. R. W. Beaven M. T. Wright S. D. Garvey and M. I. Priswell, "The application of setpoint gain scheduling to high-speed independent drives", Control Engineering Practice, vol. 3, pp. 1581-1585, 1995.
8. E. W. Kamen and P. P. Khargonekar, "On the control of linear systems whose coefficients are functions of parameters", IEEE Trans. on Automatic Control, vol. 29. pp. 25-33, 1984.
9. J. S. Shamma and M. Athans, "Guaranteed Properties of Gain Scheduled Control for Linear Parameter-Varying Plants", Automatica, vol.27, pp. 559-564, 1991.
10. S. Shahruz and S. Behtash, "Design of Controllers for Linear Parameter Varying Systems by the Gain Scheduling Technique", J. of Mathematical Analysis and Applications, pp. 195-217, 1992.
11. ∞ Control", Int. J. of Robust and Nonlinear Control, vol. 4, pp. 421-448, 1994.
12. ∞ control problems", IEEE Trans. on Automatic Control, vol. 34, pp. 831-847, 1989.
13. ∞ Control of Linear Time-Varying Systems: A State Space Approach", SIAM J. on Control and Optimization, vol. 29, pp. 1394-1413, 1991.
14. S. Boyd L. El Ghaoui E. Feron and V. Balakrishnan, "Linear Matrix Inequalities in System and Control Theory", S.I.A.M., 1994.
15. F. Wu, "Control of Linear Parameter Varying Systems", in Ph.D. Thesis, Dept. of Mechanical Engineering, UCB, 1995.
16. P. Gahinet A. Nemirovski A. J. Laub and M. Chilali, LMI Control Toolbox, The Mathworks Inc., 1995