Selectively Invariant Control Systems Design of the Unmanned Mobile Robots' Movement
Anatoly R. Gaiduk, Mikhail Medvedev, Viacheslav Pshikhopov · 2021 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME) · 2021
The paper proposes the analytical design method of the control system for movement of a mobile robot with external, not measured disturbances. To exclude the influence of these disturbances on error of the control system the digital selectively-invariant control system is offered to use. The control on output and impacts and the Kulebakin's images of the disturbances are used for solution of the design problem of the selectively-invariant control system. The offered approach can be used for the rejection of the influence of different external disturbances on control systems.