제어로봇시스템학회:학술대회논문집
- 2003.10a
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- Pages.438-443
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- 2003
Mixed $H_2/H_{\infty}$ Control of Two-wheel Mobile Robot
- Roh, Chi-Won (Division of Electronics engineering, Ajou University) ;
- Lee, Ja-Sung (Division of Electronics engineering, Ajou University) ;
- Lee, Kwang-Won (Division of Electronics engineering, Ajou University)
- Published : 2003.10.22
Abstract
In this paper, we propose a control algorithm for two-wheel mobile robot that can move the rider to his or her command and autonomously keep its balance. The control algorithm is based on a mixed
Keywords
- Mixed $H_2/H_{\infty}$ controller;
- Two-wheel mobile robot;
- Disturbance attenuation;
- Parameter uncertainty