抄録
In this paper, a multirate H2 control synthesis is presented for the horizontal navigation system of a centerarticulated micro-tunneling robot, which has different sampling intervals for the horizontal positioning and head angle control of the robot. The projected line to be tunneled is approximated by a transfer function and combined with a dynamic model of the robot. Then, for the corresponding lifted system we design a discrete H2 optimal controller with a causality constraint in the form of state space representation aiming at its quick implementation to the on-site navigation system. The validity of the controller is verified in numerical simulations.
