In Middle Volga Mathematical Society

Desing saturation control synthesis algorithm in the tracking problem for wheeled mobile robot

D. Yu. Motorina

Ulyanovsk State University

Abstract: In the work tracking problem is considered for mobile roller-bearing robot with unknown inertia matrix and delay in the feedback structure. Uninterrupted control law is justified with applying Lyapounov vector-function in the form of vector norm. An algorithm based on estimation operator and logarithmic matrix norm is proposed to find the control parameters. Results of algorithm implementation and numerical simulation of robot motion are presented.

Keywords: Mobile wheeled robot, saturation control, comparison method, delay in the feedback structure.

UDC: 531.01