Vol.7, No 1, 2008 pp. 111 - 120
UDC 681.51
STRUCTURAL DESIGN OF THE CONTROL SYSTEM
FOR MOBILE ROBOTS WITH DISTURBANCES ESTIMATION
V.Kh. Pshikhopov, M.Y. Medvedev
Technological Institute of South Federal University, Taganrog, Russia
E-mail: pshichop@rambler.ru
Abstract. This paper describes the synthesis of autopilots for mobile
objects, combining controller and estimation loop for parametric and non-measurable
disturbances of given class. The results of the synthesis for an airship-based
robot and of modeling, confirming the effectiveness of the proposed algorithms
are included.
Key Words: Mobile Robots, Control, Estimation, Airship
STRUKTURALNI DIZAJN KONTROLNIH SISTEMA
MOBILNOG ROBOTA SA ESTIMACIJOM POREMEĆAJA
Ovaj rad opisuje sintezu autopilota za mobilne objekte, koji kombinuju
kontrolere petlju estimacije namenjenu za parametarske i poremecaje
odredjenog tipa koje je tesko meriti .U radu su ukljuceni rezultati sinteze
mobilnog robota – bespilotne letilice, kao i rezultati modelovajna koji
potvrdjuju efikasnost predlozenog algoritma.
Ključne reči: mobilni roboti, kontrola, procena, letelica
