Robust low-level motion control of WMR with stochastic active observers

Abstract

This paper describes a robust control method for the low-level motion of a Wheeled Mobile Robot (WMR). It is demonstrated through simulation analysis that the Active Observer (AOB) Control structure provides a reliable tracking control action, for the WMRs wheel velocity, in spite of parameters uncertainties. The results show that this type of controller structure can be applied to WMR, where information of motor intrinsic parameters or cross-couplings is unavailable, this is the case of robotic wheelchair "RobChair".