Simple Output Stabilization Approach for Robotic Systems
Publisher: 7th IFAC Conference on Manufacturing Modelling, Management and Control
Section: Simulation in Control Applications
Editor: Conference Editor: Bakhtadze, Natalia, Chernyshov, Kirill, Dolgui, Alexandre, Lototsky, Vladimir
The problem of control design for a class of nonlinear system is considered. It is assumed that the linear part is unknown and minimum phase. The nonlinear part is known inaccurately, it is irreducible to an input of the linear block, and generally does not satisfy sector restrictions. A regulator ensuring semiglobal stability is designed. The output of a plant, but not its derivatives is used as a measured variable. Some application results of proposed output control algorithm for a number of Lego Mindstorms NXT mobile robots (track, wheel and walking ones) are presented in the paper.