ABSTRACT:

In this brief, we develop a methodology via Markovian control theory to evaluate fault- tolerant wheeled mobile manipulators. The transition rate uncertainties are allowed within an uncertainty domain. Since the velocity signals are generally not available and indirectly obtained from the measured positions, we are concerned with the output feedback H∞ control based on a high-gain observer for wheeled mobile manipulators. The objective is to design a mode-dependent dynamic output feedback controller for wheeled mobile manipulators which guarantees not only the robust stochastic stability but also a prescribed disturbance attenuation level for the resulting closed-loop system, irrespective of the transition rate uncertainties. A sufficient condition for the solvability of this problem is obtained and the expression of the desired controller is given in terms of a set of linear matrix inequalities.


Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here


PROJECT TITLE :Design, Control, and Validation of a Charge-Sustaining Parallel Hybrid BicycleABSTRACT:Traffic congestion, energy, and environmental concerns are boosting the interest for light electric vehicles. Electrically power-assisted
PROJECT TITLE :Power converters, control, and energy management for distributed generationABSTRACT:Distributed generation (DG) is anticipated to play a important role in the long run to enhance the quality of human life. DG and
PROJECT TITLE :A Robotic Leg Prosthesis: Design, Control, and ImplementationABSTRACT:This text describes the look and control of a powered knee and ankle prosthesis for transfemoral amputees. Following an outline of the design
PROJECT TITLE :Modeling, Control, and Experimental Validation of a High-Speed Supercavitating VehicleABSTRACT:Underwater vehicles that travel inside a bubble or supercavity provide possibilities for prime-speed and energy-economical
PROJECT TITLE : Modeling, Control, and Implementation of DC–DC Converters for Variable Frequency Operation (2014) ABSTRACT : In this paper, novel small-signal averaged models for dc-dc converters operating at variable switching

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry