International Federation of Automatic Control
3rd IFAC SYMPOSIUM on SYSTEM, STRUCTURE and CONTROL

Foz do Iguassu, Brazil October 17th - 19th, 2007

Friday Morning

Session FM2: Non-linear Systems Applications


Chair: Lakmal Seneviratne - United Kingdom
Co-chair: Claude Moog - France
Room: Montevideo
2007-10-19
From 10:00 to 12:00
Mixed Model Based/Fuzzy Adaptive Robust Controller with H∞ Criterion Applied to Wheeled Mobile Robots
Roberto Santos Inoue; Tatiana de F. P. A. T. Pazelli; Adriano A. G. Siqueira; Marco H. Terra
Contact: Roberto Santos Inoue - Brazil
10:40-11:00
Abstract:
A mixed model based/fuzzy adaptive robust controller with H-Infinity performance is proposed for wheeled mobile robots (WMRs). An adaptive control law based on Takagi-Sugeno (T-S) fuzzy model is used only for adapting the uncertain dynamics of the WMRs. It is developed for actuating as a complement of the nominal model. Experimental results obtained from an actual WMR are presented to show the robustness of this new approach, guaranteed by a H-Infinity performance criterion. Copyright © 2007 IFAC.