A Common Noninteracting Control Design for Robot Tracked Vehicles*

Abstract

Motivated by the control problem of a robot tracked vehicle, the problem of common noninteracting control with simultaneous partial output zeroing is introduced and solved for the case of multi model normal linear time invariant systems, using a regular and static measurement output feedback controller. The necessary and sufficient conditions for the solvability of the problem are established, and the general solution of the controllers is derived. The present design results are successfully applied to the two-model description of the robot tracked vehicle, through a common controller, using only measurements of the motor currents and the orientation of the vehicle. Additionally, approximate asymptotic command following is achieved. Finally, using a metaheuristic algorithm the transient behavior of the independently controlled outputs, is improved.