Robust Controller Design Of A Wheelchair Mobile Via Lmi Approach To Erp Systems With Feedback Output

摘要

The article discusses the design of robust controller applied to Wheelchair Furniture via Linear Matrix Inequalities (LMI) systems for Strictly Positive Real (SPRs). The contributions of this work were the choice of a mathematical model for CRM with uncertainty about the position of the center of gravity (CG) of the same, the decoupling of the kinematic and dynamical systems, linearization of the models, the headquarters building of parametric uncertainties (vertices of the polytope), the proposal of the control loop and obtain the matrices that make SPRs systems and stabilize them, with a decay rate specified.