Robust Trajectory Tracking Controller Design for Mobile Robots with Bounded Input

Abstract

Designing of robust trajectory tracking controller for mobile robots with parametric uncertainties in the dynamic model and with bounded input is investigated. Based on the established full dynamic error model, a robust tracking controller is designed using receding horizon control (RHC) and linear matrix inequalities (LMIs). Simultaneously asymptotically tracking position, heading angle and velocities of mobile robots is realized in accordance with nonholonomic and input constraints. The sufficient condition of the system stability is given in terms of linear matrix inequalities. Simulation results verify the feasibility and effectiveness of the proposed method.