Multirate H2 Control Synthesis for a Micro-Tunneling Robot Navigation System

Koichi Yoshida

doi:10.11499/sicep.2004.0_41_2

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_41_2

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Multirate H2 Control Synthesis for a Micro-Tunneling Robot Navigation System

*Koichi Yoshida

Author information

Keywords: multirate system, tunneling robot, h2 control

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 41

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Abstract

This paper presents a multirate H₂ control synthesis for the horizontal navigation system of a micro-tunneling robot, in which the sampling intervals for sensing and control are different. The trajectory is combined with a dynamic model of the robot. Then, for the corresponding lifted system we design a multirate H₂ controller. The validity of the system is verified in simulations.

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