A mixed gH₂/H approach for stabilization and accurate trajectory tracking of unicycle-like vehicles

Abstract

The control problem of unicycle-like vehicles such as mobile robots is considered. More exactly, we propose the use of a linear parameter varying (LPV) approach to obtain both stabilization of the kinematic model together with high accuracy in trajectory tracking. This objective has been achieved by exploiting the advantages offered by linear matrix inequality (LMI) theory and by introducing in the synthesis phase a tight limit on the peak value of control signals.