Multivariable LMI Approach for Robust Control of Tractor Trailer System with State Delay and Parametric Uncertainty

摘要

The design of controllers for systems which are subject to uncertain time delays is a challenging problem for control engineers. This is due to the potential for closed-loop instability contributed by the uncertainty in the processphase.This paper gives a robust method to control a Wheeled Mobile Robot trailer system with time delay. This articulated vehicle being a complicated non holonomic system, the number of control inputs is less compared to the number of generalized coordinates. A robust H-infinity output feedback controller is synthesized using LMI algorithms for the nominal plant considering the model uncertainties in unstructured form and also the output disturbances. Analysis of the system without the output disturbance, with a first order output disturbance and with a second order output disturbance have been carried out. The simulation results indicate that the WMR trailer system is stable with the proposed LMI .? ∞ controller.Also this paper describes a linearized model of WMR trailer system which is highly nonlinear in the presence of output disturbances, uncertainties and time delays