The following information was submitted:
Transactions: INTERNATIONAL JOURNAL of APPLIED MATHEMATICS AND INFORMATICS
Transactions ID Number: 19-573
Full Name: Tohru Kawabe
Position: Associate Professor
Age: ON
Sex: Male
Address: Tennoudai 1-1-1, Tsukuba
Country: JAPAN
Tel: +81-29-853-5507
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E-mail address: kawabe@cs.tsukuba.ac.jp
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Title of the Paper: Minimax Robust RHC Method for Two Mobile Robots Cooperative Carrying Task Problem
Authors as they appear in the Paper: Tohru Kawabe
Email addresses of all the authors: kawabe@cs.tsukuba.ac.jp
Number of paper pages: 9
Abstract: In this paper, a robust receding horizon control (RHC) method and its application to a cooperative carrying task problem by two mobile robots is discussed. In the problem, a following robot must be controlled autonomously and it should hold constraint conditions of relative position against structured uncertainties and bounded disturbances anytime. Then the proposed robust RHC method is based on the minimax optimization with bounded constraint conditions. The proposed method generates the velocity and direction angle adequately to hold the conditions. A numerical example is shown to demonstrated the effectiveness of the method.
Keywords: Robust Control, Minimax optimization, Receding horizon control, Cooperative caring task, Mobile robot
EXTENSION of the file: .pdf
Special (Invited) Session: Minimax Robust RHC Method for Two Mobile Robots Cooperative Carrying Task Problem
Organizer of the Session: 638-190
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