Abstract
The longitudinal displacement of a rail-type mobile robotic work platform based on semi-active suspension system is modeled, and the unknown disturbance noise in the model is separated. As for the control method, we use the state feedback control of linear quadratic regulator and add the filter of H∞ minimum error state estimation to filter the unknown process and measurement noise. Besides, the difference between Kalman filter and H∞ filter is analyzed based on the power spectral density. Eventually, the anti-interference performance of two filters is compared by means of simulation.
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© 2016 Springer Science+Business Media Singapore
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Shi, S., Li, X., Sun, H. (2016). Modeling and Control of a Rail-Type Mobile Robotic Work Platform. In: Jia, Y., Du, J., Zhang, W., Li, H. (eds) Proceedings of 2016 Chinese Intelligent Systems Conference. CISC 2016. Lecture Notes in Electrical Engineering, vol 404. Springer, Singapore. https://doi.org/10.1007/978-981-10-2338-5_15
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DOI: https://doi.org/10.1007/978-981-10-2338-5_15
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