在非直視距離 (NLOS) 情況下，對使用無線感測網絡 (WSN) 的移動機器人進行準確定位和強健性參考跟踪控制的需求已被廣泛應用於各個行業領域。 為了克服NLOS情況，採用平滑信號模型將NLOS引起的偏差信號嵌入到移動機器人的動態系統中，以避免NLOS對使用WSN的移動機器人定位和遠程控制的影響。 研究中，在WSN量測下，一種強健性的 H∞ 模糊定位濾波器被提出來有效地估計移動機器人姿態（位置和方向）和由 NLOS 引起的偏置信號，在 NLOS、外部干擾和量測噪音情況下。 此外，一種基於強健性H∞模糊 NLOS 容錯定位濾波器的遠程控制設計也被提出，用於移動機器人系統來跟踪給定的軌跡，在 WSN 雜亂嘈雜的室內環境中。在WSN 中，移動機器人的強健性 H∞ NLOS 容錯模糊定位基於濾波器的跟踪控制設計問題可以轉化為對應的線性矩陣不等式 (LMI) 約束優化問題，可以使用 MATLAB 中的 LMI 工具箱輕鬆解決。 最後，一個模擬設計實例被提出來說明設計過程，並與其他方法相比，驗證了所提出的 在WSN 中移動機器人定位估計和參考跟踪控制方法的性能在智能建築中。

The need for accurate localization and robust reference tracking control of mobile robot using wireless sensor networks (WSNs) under the non-line-of-sight (NLOS) situations have been widely needed in diverse areas of industry. In order to overcome NLOS situations, a smoothing signal model is employed to embed bias signals due to NLOS in the dynamic system of the mobile robot to avoid the effect of NLOS on the positioning and remote control of the mobile robot using WSNs. In the study, a robust H∞ fuzzy localization filter is developed to efficiently estimate the mobile robot pose (position and
orientation) and bias signals due to NLOS using the measurement of WSNs under NLOS situation, external disturbance and measurement noise. Further, a robust H∞ fuzzy NLOS-tolerant localization filter-based remote control design is also proposed for mobile robot system to track the desired trajectory for some purpose in the cluttered and noisy indoor environment in WSN. The robust H∞ NLOS-tolerant fuzzy localization filter-based tracking control design problems of mobile robot in WSN can be transformed to a corresponding linear matrix inequalities (LMIs)-constrained optimization problem, which
could be easily solved with the LMI toolbox in MATLAB. Finally, a simulation design example is provided to illustrate the design procedure and confirm the performance of the proposed methods for the localization estimation and reference tracking control of the mobile robot in WSN in comparison with the other method in an intelligent building.

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