Robust contRobust control using LMIs for trajectory tracking with application in line-following robotsrol using LMIs for trajectory tracking with application in line-following robots

• Grant number: 23/15924-5
• Support Opportunities: Scholarships in Brazil - Master
• Start date: April 01, 2024
• End date: March 31, 2026
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Ricardo Coração de Leão Fontoura de Oliveira
• Grantee: Matheus Henrique de Campos Marcomini
• Host Institution: Faculdade de Engenharia Elétrica e de Computação (FEEC). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil

Abstract

The aim of this plan is to study robust control problems involving trajectory tracking of linear systems with uncertainties. From a modeling perspective, the plan proposes the use of models with uncertain parameters to address the uncertainties present in the problem under study. In terms of control, the aim is to investigate low-order or structured controllers, such as PI and PID. Although these low-order controllers are easy to implement, synthesis procedures often pose theoretical challenges to ensure stability and robust performance in closed-loop systems, especially when dealing with uncertain parameters. In this scenario, state-of-the-art robust control techniques for uncertain systems are proposed, employing parameter-dependent Lyapunov functions as a methodology to address the problem, resulting in conditions expressed as Linear Matrix Inequalities (LMIs). Experimental validations will be conducted on line-following robots to assess the quality of the proposed technique. Computational tools available in the Matlab software for LMI programming will be utilized, along with public domain parsers and solvers.