Motion control involving DC motors requires a closed-loop system with a suitable compensator if tracking performance with high precision is desired. In the case where structural model errors of the motors are more dominating than the effects from noise disturbances, accurate system modelling will be a considerable aid in synthesizing the compensator. The focus of this paper is on enhancing the tracking performance of a wheeled mobile robot (WMR), which is driven by two DC motors that are subject to model parametric uncertainties and uncertain deadzones. For the system at hand, the uncertain nonlinear perturbations are greatly induced by the time-varying power supply, followed by behaviour of motion and speed. In this work, the system is firstly modelled, where correlations between the model parameters and different input datasets as well as voltage supply are obtained via polynomial regressions. A robust ${\mathcal{H}}_{\infty }$ -fuzzy logic approach is then proposed to treat the issues due to the aforementioned perturbations. Via the proposed strategy, the ${\mathcal{H}}_{\infty }$ controller and the fuzzy logic (FL) compensator work in tandem to ensure the control law is robust against the model uncertainties. The proposed technique was validated via several real-time experiments, which showed that the speed and path tracking performance can be considerably enhanced when compared with the results via the ${\mathcal{H}}_{\infty }$ controller alone, and the ${\mathcal{H}}_{\infty }$ with the FL compensator, but without the presence of the robust control law.

中文翻译：

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存在不确定非线性扰动的鲁棒H∞-模糊逻辑控制可增强轮式移动机器人的跟踪性能。

如果需要高精度的跟踪性能，则涉及直流电动机的运动控制需要具有合适补偿器的闭环系统。在电动机的结构模型误差比噪声干扰的影响更为主要的情况下，准确的系统建模将对合成补偿器有很大帮助。本文的重点是提高轮式移动机器人（WMR）的跟踪性能，该机器人由两个直流电动机驱动，该直流电动机受模型参数不确定性和不确定死区的影响。对于现有系统，时变电源会极大地引起不确定的非线性扰动，其次是运动和速度行为。在这项工作中，首先对系统进行建模，其中，通过多项式回归获得模型参数与不同输入数据集以及电压供应之间的相关性。坚固 ${\mathcal{H}}_{\infty }$ 然后提出了模糊逻辑方法来处理由于上述扰动引起的问题。通过提议的策略， ${\mathcal{H}}_{\infty }$ 控制器和模糊逻辑（FL）补偿器协同工作，以确保控制律对模型不确定性具有鲁棒性。通过数次实时实验验证了该技术的有效性，与通过H.264测试获得的结果相比，该技术可以显着提高速度和路径跟踪性能。 ${\mathcal{H}}_{\infty }$ 控制器本身，以及 ${\mathcal{H}}_{\infty }$ 使用FL补偿器，但没有鲁棒控制定律。