Adaptive H<sub>∞</sub> Control of Nonholonomic Systems Based on Inverse Optimality and Its Application to Mobile Robot

Abstract

A design method of adaptive H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control of uncertain nonholonomic systems is presented based on the notion of inverse optimality. The proposed methodology is applied to chained systems of high orders, and the controller designs by both state and output feedbacks are shown. The resulting control strategy is derived as a solution of certain H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control problem, where estimation errors of tuning parameters and adaptive observers are regarded as external disturbances to the process. The proposed methodology can be used to control mobile robots with uncertain measurement error