LMI Based Robust

ABSTRACT – Control of time delay systems has been a challenging problem for the control engineers. The issues have been inviting attention of many researchers, especially in the context of robust control. The presence of delay in the systems makes closed-loop stabilization difficult and degrades tracking performance. This paper is concerned with the robust H∞control of a non-holonomic wheeled mobile robot with time delay by LMI approach. Also this paper gives a linearized model of the wheeled mobile robot (WMR) in the presence of disturbances, uncertainties and delays. A WMR is a wheeled vehicle which is capable of autonomous motion and is extensively used in lots of dangerous and heavy jobs, including the transportation of nuclear waste, mines, lunar exploration etc. A robust controller was synthesized for this system using LMI algorithms. It can be seen that, as the value of the of time delay increases, settling time of a WMR also increases but the steady state error remains constant. Also it can infer that, for larger values of delays the difference between the settling time and the delay value remains almost constant Simulation results show that the WMR system is stable with the proposed LMI H∞ controller