Jump linear quadratic target tracking applied in robot soccer

• Grant number: 15/25692-8
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Effective date (Start): March 01, 2016
• Effective date (End): August 31, 2016
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Eduardo Fontoura Costa
• Grantee: Pedro Rogério de Paula Guimarães
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This research project focus on the study and simulation of control of linear systems with markovian jumps in the parameters, and its application in a robotic system. This system is an omnidirectional robotic platform applied in robot soccer, developed by the research and extension group \emph{Warthog Robotics} of the São Carlos School of Engineering and the Mathematics Computer Science Institute at the University of São Paulo at São Carlos. Frequent target switching, added to terrain imperfections and also mechanic and electric failures, makes the platform considerably hard to control. In this proposal, the main objective is to develop an optimal target tracker for the linear system with jumps, simulate the results and compare the performance with the standard tracker without jumps and with PID control.