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A mixed $gH_2/H_infty$ approach for stabilisation and accurate trajectory tracking of unicycle-like vehicles

Author(s):

S. Bittanti, F.A. Cuzzola
Conference/Journal:

International Journal of Control, vol. 74, no. 9, pp. 880-888
Abstract:

The control problem of unicycle-like vehicles such as mobile robots is considered. More exactly, we propose the use of a Linear Parameter Varying (LPV) approach to obtain both stabilisation of the kinematic model together with high accuracy in trajectory tracking. This objective has been achieved by exploiting the advantages offered by Linear Matrix Inequality (LMI) theory and by introducing in the synthesis phase a tight limit on the peak value of control signals.

Year:

2001
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@Article { BitCuz:2001:IFA_220,
    author={S. Bittanti and F.A. Cuzzola},
    title={{A mixed $gH_2/H_infty$ approach for stabilisation and
	  accurate trajectory tracking of unicycle-like vehicles}},
    journal={International Journal of Control},
    year={2001},
    volume={74},
    number={9},
    pages={880--888},
    month=sep,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=220}
}
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