Applying H-infinity for stability control in two wheeled mobile manipulator

Abstract

In the field of robotics, the two wheel mobile manipulator has the potential to perform wide range of applications. Balancing of the system becomes a bothering task due to the highly unstable nature of the system. Dynamics of wheeled mobile manipulator are derived by the basics of energy balance equation by approximating double inverted pendulum dynamics. Control method for balancing the two wheeled mobile manipulator using H-infinity controller (H∞) is discussed in the work. H-infinity control methods are developed to design systems which have the desired dynamic behavior and are robust with respect to perturbations. Settling time required to achieve stability of the system and maximum deviation from desired value using linear quadratic regulator (LQR) controller and H-infinity controller are compared. Designing and simulations are carried out to check the validity of the proposed method and the results prove the effectiveness of the proposed method.