Adaptive H<inf>∞</inf> control of nonholonomic mobile robot based on inverse optimality

摘要

This paper deals with the problem of constructing adaptive trajectory control scheme of nonholonomic mobile robots based on H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> control strategy. Both kinematics control laws and dynamics control ones are developed based on H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> criterion and for processes with unknown parameters. It is shown that the resulting control signals are derived as solutions of certain H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> control problems where tracking errors of controlled velocities and estimation errors of tuning parameters are regarded as external disturbances to control systems.